OVERVIEW

The following are provided, in the hope that they may benefit those making the reformation to C.

• The basic mathematics behind a projectile launch mechanism, presuming said mechanism is compliant with the following:

  • Work must be proportional to power.
  • Angle must be proportional to power.

• A boilerplate for tasks a robot must complete once, and multiple times.

• A straightforward methor for receiving and executing tasks for the robot.

• A demonstration of a full implementation of the above, for 35473D microprocessor architecture, using a controller area network compatible motor system.

• A circuit diagram for said implementation:

  

USEAGE

A file, like demo.c and aim.c herein, should be written and linked. To do this is simple:

gcc main.c -o main.o
gcc demo.c -o demo.o
gcc main.o demo.o

EXTERNAL FUNCTIONS

This library expects two external functions to be provided: rcv and init. init is run once, at the end of setup. rcv is run every r_fq milliseconds, a constant which must be provided, and should assign a command to the robot. If this command assigns a power of 0, the program will terminate with 0. Any nonzero exit codes from either of these functions, will cause the termination with said code.

OPERATION

start creates the connection with the robot, and returns the result of init provided.

run is repeatedly executed every R_FQ microseconds, and will execute the command with highest importance, and on success, direct the robot to the target.

Commands are received using the rcv command, as are targets.

The provided main function sets up a socket connection with the Linux socketcan library. Those not using Linux should install it now.

STRUCTURE

• A directive is a series of bytes to be transmitted. In the provided demonstration, these are the power level for two motors: both 8 byte floating point numbers. A target is a series of bytes which are received. In the provided demonstration, these are the distance and height of a goal: both 8 byte floating point numbers.
• That sizeof(dct_) == sizeof(tgt_) is entirely coincidental.
• An action is a function pointer, taking the current target, and the current directive
• The outcome of an action may be returned via the new target, allowing a previously issued command to recognise completion.
• A command is an action and a level of importance. An command with importance of 0 will be ignored; time need not be wasted providing a function which does nothing,