Updates from meeting / new command requirements #8
Conversation
I added a couple of changes: - reworded executive to match the new design. - updated language in digging, which was defined at a time that digging was uncertain. - Added in support for emergency stop. - Added in support for reset position. Feel free to nitpick and let me know
I we have a disable and reject commands option, we should have the ability to turn that back off if we want. So instead of motor stop, it should be motor toggle.
Top-Level Requirements.md
Outdated
| * 1.7 The executive system **shall** return the system to a safe state upon failure. | ||
| ### 1. Executive System | ||
| * 1.1 The executive system **shall** process mission control commands. | ||
| * 1.3 The executive system **shall** monitor and delegate system responsibilities and state in between mission subsystems. |
There was a problem hiding this comment.
Thanks for catching that, markdown, should add an ordered list feature in future iterations of the language.
Top-Level Requirements.md
Outdated
| * 2.1.3 Send directional driving commands. | ||
| * 2.1.4 Execute a digging procedure. | ||
| * 2.1.5 Perform an emergency stop. | ||
| * 2.1.6 Teset the system motors and mining arm after a stop. |
There was a problem hiding this comment.
It's the romanian form of to test
Top-Level Requirements.md
Outdated
| * 9.3.1 Orient itself and turn to face east. | ||
| * 9.3.2 Back up to within a set tolerance of the wall, maintaining eastern orientation. | ||
| * 9.3.3 Raise the mining bin and dump the regolith at a set speed. | ||
| * 9.1 As a precondition the rover **shall** be facing west, relatively close to the dumping receptacle. |
There was a problem hiding this comment.
East I think we start east and end navigation facing east
There was a problem hiding this comment.
Well, whatever it is it should be consistent with the definition at the very top.
Top-Level Requirements.md
Outdated
| * 2.1.3 Send directional driving commands. | ||
| * 2.1.4 Execute a digging procedure. | ||
| * 2.1.5 Perform an emergency stop. | ||
| * 2.1.6 Test the system motors and mining arm after a stop. |
There was a problem hiding this comment.
I think this may actually supposed to be "Reset"
Top-Level Requirements.md
Outdated
| * 1.1 The executive system **shall** process mission control commands. | ||
| * 1.2 The executive system **shall** monitor and delegate system responsibilities and state in between mission subsystems. | ||
| * 1.3 The executive system **shall** support two modes of operation: | ||
| * 1.3.1 *Autonomous* Commences the main mission phases and tracks autonomous mission state. |
There was a problem hiding this comment.
Content looks good, but the phrasing between 1.3.1 and 1.3.2 is inconsistent ("commences ..." vs. the more fragmented "lightweight user ...."). This isn't super important, but if we're looking for formality I think this is something to be addressed and it can help make it more obvious what the specific differences are between them.
Top-Level Requirements.md
Outdated
| * 2.1.3 Send directional driving commands. | ||
| * 2.1.4 Execute a digging procedure. | ||
| * 2.1.5 Perform an emergency stop. | ||
| * 2.1.6 Reset the system motors and mining arm after a stop. |
There was a problem hiding this comment.
Define "reset"? Does this mean "stop the motor"? Or does it mean "reset to an initial position"?
There was a problem hiding this comment.
"make the motors usable after an emergency stop" I fix
Top-Level Requirements.md
Outdated
| @@ -70,10 +72,12 @@ | |||
| * 8.8 Upon completing the mining procedure, the mining subsystem **shall**: | |||
| * 8.8.1 Define an “obstacle” representing the digging hole and send it to the navigation subsystem. | |||
| * 8.8.2 Return the mining arm to the starting position. | |||
| * 8.9 The mining subsystem **shall** expose a mechanism to reset arm postition. | |||
There was a problem hiding this comment.
Typo in "postition". Also, we should specify exactly what kind of position it's resetting to: is it the position in the bin? Position where it doesn't interfere with the bin? Both? Something else?
There was a problem hiding this comment.
I kind of left that ambiguous because we didn't know then
|
@RyanBerge @AdamuKaapan I finished implementing all the changes |
I added a couple of changes:
Feel free to nitpick and let me know