Automatakit API
aka project 'consistent-sandbox'
Automatakit is a system architecture for robotics where machine controllers are extensible, and organized around the principle of event propagation: things happen because of other things that have happened beforehand.
We aim to take an event graph architecture down through multiple layers of computing, routing event propagation also through a message passing network between multiple cpus each operating modular hardware endpoints.
This project serves the developement environment / api we use to write and represent programs that are event graphs.
Programming Notes
- wake up planner sequence
- once we can plan gcode sequence, work towards more
- better hardware abstraction, i.e. stepper.port = bridge.port('0,1') stepper.port.onPacket = function(){ ... } callbacks ?
- UI elements, i.e. demonstrating slider for individual axis movements, or just an arrow / keypad capture on mouseover thing
Deeply Missing
- delete modules / module context menu
- load / save program
- decent page nav
- title bar / instructions
- heirarchy zoom
- states / uis / etc - one off / one-at-a-time for updates
- i.e. all f'n update calls are to single module-global state update
- !
- states / getters / setters not applicable to sub-elements in an object within state
- i.e. array access
- consistent dereferencing, type checking implementation?
Want
- log() for logs-from-module tagged
Demo Desires
- want to show immediacy of hardware: software representation
- want to show physical reconfigurability and software reconfigurability
- i.e. mill, add rotary tool, pull normal vector from planner moves and route to r motor
- want to have UI elements
- button, terminal,
- live motor torque display, vector from accelerometer
Network Desires
- c improvements / dma etc, would be very cool
- flow control probably desired ... what can we model with uart and implement with fpga?
- proper speed tests
- DMA not possible / not enough channels for router implementation / not portable enough ...
- lights displaying activity
Bugs
- when bridge has two addresses only one sends
- add watch for identical addresses
- besides we want a different network representation
- cannot connect input to output w/o backwards bezier
The RPI
-
sudo apt-get update
-
sudo apt-get upgrade
-
install nvm
-
install git