cristhian
d336f8d499
The pad moves to dora-joy, so this node keeps no hardware dependency and the pad becomes reusable. It arrives on `joy` as a plain reading; `JoyInput.read` treats silence past JOY_TTL_S as absence, because that node dying looks like silence rather than like an unplugged pad and the arm cannot tell them apart. Both control sources are now normalised to a [-1, 1] six-vector before anything is scaled, and the scaling happens in one function. The web path used to pass a velocity straight through without going near mapping, which is why the console had to speak the arm's units. It no longer does. `twist` (SI) and `command` (robot-agnostic verbs) are the standard ports. `jog` and `request` still carry the same intent in dora-ulite6's units and service names so the two repositories can move independently; LEGACY_REQUEST is the only place that knows what that node calls a verb. Wire one or the other, never both. `joint_jog` is specified in the manifest and deliberately not built. Schemas are declared rather than inferred: pyarrow reads a null `value` as its own type, so an inferred `command` would change its port's type between one verb and the next. Three bugs found while moving this code, each with a test: - `Sample.active` compared raw axes against a threshold, but SDL rests a trigger at -1.0, so every connected pad read as in use for ever: the pad took the lease on plug-in and GAMEPAD_IDLE_RELEASE_S never fired. - The e-stop latch was never consulted when deciding a velocity, so Back stopped the arm for one tick and the next stick nudge drove it again. Nothing on the pad could clear it either. It is now checked above the lease, and X releases it and clears the controller's error, as the console's RESET does. - Buttons were read before the arbiter granted the lease, so the first press after the pad had been idle was swallowed: not owned yet when read, and no longer a rising edge by the next tick.
103 lines
3.4 KiB
YAML
103 lines
3.4 KiB
YAML
# Joystick control of a real arm. Three nodes, no bench and no browser.
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#
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# This is the one that moves a robot. `dataflow.yml` and `dataflow-gamepad.yml`
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# drive a stand-in; this one drives `dora-ulite6`, so everything the pad does
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# here happens in the room. Read `The gamepad` in README.md before picking it up
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# — Back is the E-STOP.
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#
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# Both sibling nodes are pulled by `git:`, so this runs from a fresh clone with
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# no other checkouts. It needs the network on its first build, and an arm.
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#
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# dora build dataflow-robot.yml --uv
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# dora run dataflow-robot.yml --uv
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#
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# Set ROBOT_IP and TOOL_TYPE below to match the arm in front of you. The
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# defaults are `dora-ulite6`'s own: 192.168.1.192 and a vacuum tool.
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#
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# For the web console as well as the pad, add `dora-websocket-transceiver` and
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# wire `ui_command`, `clients` and its `data_in` — README.md has that wiring.
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# Without it the console ports below simply go unread, which is why `ui_state`
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# has no consumer here.
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strict_types: true
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# Lets `dora topic echo` read what is on the wire — the velocities going to the
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# arm, above all. Run under `dora start` rather than `dora run` to use it.
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debug:
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enable_debug_inspection: true
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nodes:
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- id: joy
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git: https://gitea.liria.cl/liria/dora-joy.git
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tag: v0.1
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build: pip install .
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path: dora-joy
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inputs:
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tick: dora/timer/millis/20
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outputs:
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- joy
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- id: teleop
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path: dora-teleop
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build: pip install .
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inputs:
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tick: dora/timer/millis/50
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# queue_size 1: joy ticks at 20 ms and this node at 50, so without it the
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# loop would work through a backlog of readings that have already been
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# overtaken. An arm should be driven by the newest one or by none.
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joy:
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source: joy/joy
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queue_size: 1
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queue_policy: drop_oldest
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response: ulite6/response
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motion_state: ulite6/motion_state
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robot_state: ulite6/robot_state
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tcp_pose: ulite6/tcp_pose
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joint_pose: ulite6/joint_pose
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outputs:
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- twist
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- command
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- jog
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- request
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- ui_state
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env:
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SPEED_MM_S: "60"
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SPEED_DEG_S: "30"
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# Keep the deadman layers ordered: JOY_TTL_S < JOG_TTL_S < the arm's own
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# VELOCITY_COMMAND_TTL_S, which is 0.5 s below. Each backs up the one
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# inside it, and a backstop that fires first backs up nothing.
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JOY_TTL_S: "0.2"
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JOG_TTL_S: "0.4"
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- id: ulite6
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git: https://gitea.liria.cl/liria/dora-ulite6.git
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tag: v0.3.0
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build: pip install .
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path: dora-ulite6
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inputs:
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tick: dora/timer/millis/100
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request: teleop/request
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jog: teleop/jog
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outputs:
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- response
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- motion_state
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- joint_pose
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- tcp_pose
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- robot_state
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# dora type-checks before it fetches a `git:` source, so it cannot read the
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# arm's own manifest from here. These three repeat what `dora-ulite6`
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# v0.3.0 annotates; `response` and `motion_state` stay untyped there and so
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# stay untyped here. Re-check them when moving to a new tag.
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output_types:
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joint_pose: std/core/v1/Float32
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tcp_pose: std/core/v1/Float32
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robot_state: std/core/v1/String
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env:
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ROBOT_IP: "192.168.1.192"
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TOOL_TYPE: "vacuum"
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# The outermost deadman, enforced by the controller whether or not any of
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# this is alive. Every timer above must stay below it.
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VELOCITY_COMMAND_TTL_S: "0.5"
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# The pad does not home. Nothing moves until somebody pushes a stick.
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INIT_MODE: "none"
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