Mission - Revision history

Jca: /* Example 2 */

2025-09-25T11:53:59Z

Example 2

← Older revision		Revision as of 13:53, 25 September 2025
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	tr=0.23: turn=-45		tr=0.23: turn=-45
	vel=0 : time=10		vel=0 : time=10
	vel=0 : time=10		vel=0 : time=60
	thread=2, event=2 : event=1		thread=2, event=2 : event=1
	vel=0.33, tr=1, acc=1.5 : time=5, turn=5		vel=0.33, tr=1, acc=1.5 : time=5, turn=5
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	tr=12: turn=-42		tr=12: turn=-42
	vel=0 : time=10		vel=0 : time=10
	vel=0 : time=10		vel=0 : time=60

	In this example, the two threads are supposed to run one at a time.		In this example, the two threads are supposed to run one at a time.
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	mmod 2 2 :dist=16, time=7		mmod 2 2 :dist=16, time=7
	After the 'mmod' keyword, the thread and line number follow. The rest of the line is then the new line 2, in this case, making the straight path longer.		After the 'mmod' keyword, the thread and line number follow. The rest of the line is then the new line 2, in this case, making the straight path longer.

			Note that the mission will terminate if no active lines remain.

	====Events====		====Events====

Jca: /* Example 2 */

2025-09-25T11:50:40Z

Example 2

← Older revision		Revision as of 13:50, 25 September 2025
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	The idea is that, when thread 1 executes, the lines in thread 2 can be modified and vice versa.		The idea is that, when thread 1 executes, the lines in thread 2 can be modified and vice versa.
	The intention is that a given manoeuvre can be modified if new information is detected.		The intention is that a given manoeuvre can be modified if new information is detected.
			Each thread should end by stopping the robot in the case that the mission planner is unable (e.g. a crash), to send the next manoeuvre.

	A line in thread 2 can, e.g. be modified by the command:		A line in thread 2 can, e.g. be modified by the command:

Jca: /* Example 2 */

2025-09-25T11:48:05Z

Example 2

← Older revision		Revision as of 13:48, 25 September 2025
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	The idea is that, when thread 1 executes, the lines in thread 2 can be modified and vice versa.		The idea is that, when thread 1 executes, the lines in thread 2 can be modified and vice versa.
	The intention is that a given manoeuvre can be modified if new information is detected.		The intention is that a given manoeuvre can be modified if new information is detected.

			A line in thread 2 can, e.g. be modified by the command:
			mmod 2 2 :dist=16, time=7
			After the 'mmod' keyword, the thread and line number follow. The rest of the line is then the new line 2, in this case, making the straight path longer.

	====Events====		====Events====

Jca: /* Threads */

2025-09-25T11:44:12Z

Threads

← Older revision		Revision as of 13:44, 25 September 2025
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	When a thread is not active, then all lines in the thread is ignored. When a thread is activated, then the first line in the thread is implemented.		When a thread is not active, then all lines in the thread is ignored. When a thread is activated, then the first line in the thread is implemented.

	Example		=====Example 1=====
	thread=0		thread=0
	log=20: log=0		log=20: log=0
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	The thread number is pt. not used to determine the execution order of the threads (uses script order).		The thread number is pt. not used to determine the execution order of the threads (uses script order).

	Example 2		===== Example 2 =====

	thread=1, event=1 : event=2		thread=1, event=1 : event=2

Jca: /* Threads */

2025-09-25T11:43:21Z

Threads

← Older revision		Revision as of 13:43, 25 September 2025
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	The thread number is pt. not used to determine the execution order of the threads (uses script order).		The thread number is pt. not used to determine the execution order of the threads (uses script order).

			Example 2

			thread=1, event=1 : event=2
			vel=0.33, tr=0.7, acc=1.5 : time=5, turn=15
			: dist=0.22, time=5
			tr=0.23: turn=-45
			vel=0 : time=10
			vel=0 : time=10
			thread=2, event=2 : event=1
			vel=0.33, tr=1, acc=1.5 : time=5, turn=5
			: dist=0.14, time=5
			tr=12: turn=-42
			vel=0 : time=10
			vel=0 : time=10

			In this example, the two threads are supposed to run one at a time.
			When event=1 is received, the first thread (thread=1) is activated and thread=2 is not.
			It will then start executing the five lines: a left turn of 15 degrees, followed by a straight path of 22cm and ending with a right turn of 45 degrees.
			If, during this time, an event 2 is received, then thread 1 stops executing and thread 2 starts, switching to a slightly modified manoeuvre.

			The idea is that, when thread 1 executes, the lines in thread 2 can be modified and vice versa.
			The intention is that a given manoeuvre can be modified if new information is detected.

	====Events====		====Events====

Jca: /* Extended Backus–Naur form (EBNF) */

2025-09-25T11:27:31Z

Extended Backus–Naur form (EBNF)

← Older revision		Revision as of 13:27, 25 September 2025
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	==== Extended Backus–Naur form (EBNF) ====		==== Extended Backus–Naur form (EBNF) ====
	* Full_mission = {[thread_id_line] mission};		* Full_mission = {[thread_id_line] mission};
	* thread_id_line = 'thread=' id ['event=' value] [: 'event=' value] '\n';		* thread_id_line = 'thread=' id [',' 'event=' value] [: 'event=' value] '\n';
	* id = ? integer number ?		* id = ? integer number ?
	* mission = { mission_line };		* mission = { mission_line };

Jca: /* Extended Backus–Naur form (EBNF) */

2020-05-21T11:03:48Z

Extended Backus–Naur form (EBNF)

← Older revision		Revision as of 13:03, 21 May 2020
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	* string_delimiter = "'" \| '"';		* string_delimiter = "'" \| '"';
	* string = ? any command string known by the firmware ?;		* string = ? any command string known by the firmware ?;
	* parameter_name = 'vel' \| 'acc' \| 'log' \| 'tr' \| 'bal' \| 'head' \| 'topos' \| 'edgel' \| 'edger' \| 'white' \| 'irsensor' \| 'irdist' \|'servo' \| 'pservo' \| 'label' \| 'goto' \| 'event';		* parameter_name = 'vel' \| 'acc' \| 'log' \| 'tr' \| 'bal' \| 'head' \| 'topos' \| 'edgel' \| 'edger' \| 'white' \| 'irsensor' \| 'irdist' \|'servo' \| 'pservo' \| 'vservo' \| 'label' \| 'goto' \| 'event';
	* value = ? float or integer ?;		* value = ? float or integer ?;
	* continue_condition = condition_name compare_operator value;		* continue_condition = condition_name compare_operator value;

Jca: /* Servos */

2020-05-21T10:59:38Z

Servos

← Older revision		Revision as of 12:59, 21 May 2020
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	Control of servos, there is support for up to 3 servos (version 3 only).		Control of servos, there is support for up to 3 servos (version 3 only).
	There is 2 extra pins, one analogue pin DAC (called servo 4) (real D/A converter) and one digital pin (24) called servo 5.		There are 2 extra pins, one analogue pin DAC (called servo 4) (real D/A converter) and one digital pin (24) called servo 5.

	* SERVO=N PSERVO=XXX where N is servo number (1..5) and XXX is servo position, for servo 1,2 and 3 value is in range +/- 1000, where 0 is 1.5 ms, +500 is 2ms, + 1000 is 2.5ms, -500 is 1ms and -1000 is 0.5ms pulse with a pulse frequency of 333 Hz. For servo 4 value is analogue value -1000 is minimum and +1000 is maximum. for servo 5 (digital pin) XXX=0 is Low (0V) and XXX=1 is High (3.3V).		* SERVO=N, PSERVO=XXX where N is servo number (1..5) and XXX is servo position, for servo 1,2 and 3 value is in range +/- 1000, where 0 is 1.5 ms, +500 is 2ms, + 1000 is 2.5ms, -500 is 1ms and -1000 is 0.5ms pulse with a pulse frequency of 333 Hz. For servo 4 value is analogue value -1000 is minimum and +1000 is maximum. for servo 5 (digital pin) XXX=0 is Low (0V) and XXX=1 is High (3.3V).

	Example:		Example:

Jca: /* Servos */

2020-05-21T10:59:01Z

Servos

← Older revision		Revision as of 12:59, 21 May 2020
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	The "vservo=0" sets the servo to run at maximum speed, vservo=X is the speed (X value changes every second), e.g:		The "vservo=0" sets the servo to run at maximum speed, vservo=X is the speed (X value changes every second), e.g:

	servo=3, pservo=0, vservo=0 : time=1		servo=2, pservo=0, vservo=0 : time=1
	servo=3, pservo=100, vservo=10: time=10		servo=2, pservo=100, vservo=10: time=10

	This will start at position 0 (centre) move to position 100 (approx 10 degrees, depending on servo) with velocity vservo=10, 10 values per second, so the movement takes 10 seconds.		This will start servo 2 at position 0 (centre) move to position 100 (approx 10 degrees, depending on servo) with velocity vservo=10, 10 values per second, so the movement takes about 10 seconds.

	====Threads====		====Threads====

Jca: /* Servos */

2020-05-21T10:58:02Z

Servos

← Older revision		Revision as of 12:58, 21 May 2020
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	The "vservo=0" sets the servo to run at maximum speed, vservo=X is the speed (X value changes every second), e.g:		The "vservo=0" sets the servo to run at maximum speed, vservo=X is the speed (X value changes every second), e.g:

	servo=3, pservo=0 : time=1		servo=3, pservo=0, vservo=0 : time=1
	servo=3, pservo=100, vservo=10: time=10		servo=3, pservo=100, vservo=10: time=10