AxoController

This repository consist of axo controller, Moment safety detector and Info plottor.

TODO list

• The angle detection don't work on setup stage

• The angle detection could add counter to avoid false alarm

• Comfirm the cycle is exactly correct

• DO NOT open the robot when the robot on the standup mode

• Detection thread can not stop the main thread

Overview

 Safety controller (to be implemented)
 ┣ Axo Controller (to be tested)
 ┃ ┗ Main thread (to be tested)
 ┃ ┗ Data recevier thread: 50Hz (to be tested)
 ┃ ┗ Angle detection thread: 100Hz (to be tested)
 ┣ Info Plotter
 ┗ Moment safety detector (to be tested)

Details

Safety controller

This is the main thread of the controller. It will be responsible for the following tasks:

• Control the robot following the desired trajectory
• Safety protection

Axo Controller

The module is responsible for controlling the axo. It is composed of three threads: main thread, data receiver thread and angle detection thread.

• Main thread, which is controlling the axo following the path.
• Data recevier thread, which is receiving the data from the axo.
• Angle detection thread, which is detecting the angle of the axo, prevent the angle and current exceed the limitation.
• Info plot thread, which is plotting the information of the axo in real time. (move to Info Plotter)

Info Plotter

The module is responsible for plotting the information of the axo in real time.

Moment safety detector

The module is responsible for communicating with the moment sensor.