add ptr to atkapi

README.md

@@ -2,17 +2,21 @@
 
 AutomataKit is a collection of open hardware and software developed to as a rapidly reconfigurable library for various machine-building, process development, and robotics projects. 
 
-Typically, designing and engineering complex systems requires knowledge across the disciplines of electrical engineering, embedded programming, mechanical design, controls engineering, and interface design. By breaking these components into reconfigurable [software and hardware objects](!/nadya-phd), AutomataKit aims to allow non-experts (and experts) to jump in to higher-level systems design.
+It uses a Distributed Dataflow Programming paradigm: hardware and software objects are all nodes in a graph, executing computing and physical tasks.
 
-!DOC - threeset: hardware objects, network topology, software
+[ATKAPI](https://gitlab.cba.mit.edu/jakeread/reich) serves a development environment for those graphs.
+
+![atkapi](images/atkapi.png)
+
+![atkapi](images/machine-with-atkapi.jpg)
 
 # Examples 
 
+ - [Mother Mother: a Machine Generalist](https://gitlab.cba.mit.edu/jakeread/reich)
  - [*A Machine* for playing *Music for Pieces of Wood* by Steve Reich by Jake Read](https://gitlab.cba.mit.edu/jakeread/reich)
- - [Modular, Networked Stepper Motor Control](https://gitlab.cba.mit.edu/jakeread/netsteppers)
-  - [MPVMachine](https://gitlab.cba.mit.edu/jakeread/mpvmachine)
-  - [SmallGantries](https://gitlab.cba.mit.edu/jakeread/smallgantries)
-  - [ClayStacker](https://gitlab.cba.mit.edu/jakeread/claystack)
+ - [MPVMachine](https://gitlab.cba.mit.edu/jakeread/mpvmachine)
+ - [SmallGantries](https://gitlab.cba.mit.edu/jakeread/smallgantries)
+ - [ClayStacker](https://gitlab.cba.mit.edu/jakeread/claystack)
 
 ## The Network
 
@@ -93,7 +97,11 @@ For example, to write a Step Trapezoid command, I would write ``packet 0,1,ptr,e
 
 ## Next ATK Notes
 
- - final rev change rj12 conn ? change on mkbbb ... 
+
+## ATK C API
+
+ - pin_init doesn't need PINx_bm field, just use the number, ferchrissake
+ - DMA, lights ? speed test ? 
 
 # Reproducing and Extending Automatakit Work
 

atkterminal.js

@@ -20,9 +20,10 @@ var ByteLengthParser = SerialPort.parsers.ByteLength;
 
 var port = new SerialPort(process.argv[2], {
     baudRate: 750000,
-    dataBits: 8,
+/*    dataBits: 8,
     parity: 'none',
     flowControl: false,
+    */
 });
 
 //----------------------------------------- readline
@@ -99,7 +100,7 @@ function parseLineIn(data) {
                 	u++
                 	break
 
-                case 'trapezoid':
+                case 'block':
                     packet[u] = 131;
                     // a linked acceleration planned segment
                     // we'll be going betwee float-space for steps in the higher levels, so
@@ -206,7 +207,7 @@ function logAdvice() {
     console.log('route,ptr,end,command,args')
     console.log('test: sends byte 128 to network test')
     console.log('steps: {steps uint32_t, speed steps/s float, dir uint8_t}')
-    console.log('block: {steps float (also dir), cruise speed steps/s float, accelleration steps/s/s float, start speed float, end speed float')
+    console.log('block: steps, entry, accel, accelLength, deccelLength')
 }
 
 //----------------------------------------- parsing

package-lock.json

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