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README.md

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    Automatakit API

    aka project 'consistent-sandbox'

    img software img hardware

    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.

    img moving

    For MW

    • fundament
    • load / save programs (req. prgmem representation)
    • UI
    • title bar descr. how to operate
    • 'L' for load, 'M' for new module, type for module search ?
    • right-click delete / copy etc
    • evt line highlight on hover
    • hover display type

    WRT Representations

    OK

    Module have Inputs Outputs State (initial states are settings)

    Also Names, IDs Paths-to-source

    Modules-that-represent-remote-computing also have Ports that connect to Link

    To assemble a representation of these, we want to have a kind of 'netlist' that, for convenience, we'll treat like a JSON object. We want heirarchy, so consider the representation having 'top-level' outputs / inputs / state as well ?

    Programming Notes

    title bar L for load prgmem M for add module

    • 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?

    Planner Bugs

    • trapezoid linking doesn't account for speed changes properly, i.e. doesn't ramp down into next move if next move's cruise speed is less than our exit speed

    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