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ISU-MAVRIC / MAVRIC-Systems

The repository for the Systems team. Includes code, designs and documentation.
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Structure Documentation #28

Closed ghost closed 1 year ago

ghost commented 6 years ago

We need to generate documentation for the structure of the system:

These may be combined/blurred some. This is not a one time task. We should probably have these for each milestone.

ghost commented 6 years ago

An example of the output from rqt_graph. This was generated on my laptop (not the rover) so the actual input/output nodes are missing. That is why the Drive_Board_Hardware namespace only has the 6 channels used by the Drivetrain_Ouptut node.

rosgraph

ghost commented 6 years ago

Here's the version generated from the rover when running. I set it to only show active topics, so the PWM drivers don't show all 16 channels. rosgraph

ghost commented 6 years ago

The only nodes that are not relocatable are the *_Interface nodes (relocating them breaks the base station interface) and the nodes in the *_Board_HW namespaces (relocating them requires re-wiring the rover. Everything else can be run on any board (functionally) As we get closet to a complete system, we will want to run CPU load analysis and see if any boards would benefit from re-balancing the system. We could go to a hardware-based division: Each board is responsible for a set of hardware (GPS, PWM, etc.) instead of each board handling the control of a single subsystem.

ghost commented 6 years ago

Another Update: rosgraph

ghost commented 6 years ago

I would like to put this into visio, powerpoint, or draw.io - but it has been changing somewhat rapidly as I add new nodes. Once we get more into testing/bugfixing, it will be more stable.

ghost commented 6 years ago

@jensenm7

ghost commented 6 years ago

With some changes to the drive system: rosgraph