- Added tabledrive: table driven path for MARS

- Initial MARS development
- Upgraded Manager Manual

tabledrive.w

@@ -0,0 +1,117 @@
+\subsection{Tabled Driving}
+This object implements driving several motors along a predefined path. The definition
+ of the path happens through a table. Positions between tabulated positions are 
+ interpolated by linear interpolation. Additionally, each motor may be driven a 
+ bit from the tabulated positions for fine adjustments. Of course the limits are 
+ variable from position to position. Thus this object also sets the software limits of the
+ motors accordingly. This object assumes that motors can be driven between positions
+ without watching for collisions. The original use of this module is to coordinate the
+ movements of the MARS triffids or girafs.
+ 
+The table lives in a separate file. The format of the file is very simple:
+Each block starts with a line containing:
+\begin{verbatim}
+# motorname
+\end{verbatim}
+This is a hash and the name of the motor.
+These lines are followed by n lines of:
+\begin{verbatim}
+lower position upper
+\end{verbatim}
+These are three numbers giving the lower and upper limit for this position in the table 
+ and, as the middle value, the target position for this entry.
+ 
+
+ In order to achieve all this, we need a data structure per table entry:
+ @d tdentry @{
+typedef struct{
+	double lower, position, upper;
+	int tablePos;
+	}tdEntry, *ptdEntry;
+ @}
+The fields are the lower and upper limits, the position for this table entry and the
+number of the entry.
+
+
+For each motor we need another data structure:
+@d tdmotor @{
+typedef struct {
+	char motorName[132];
+	int table;
+	pMotor pMot;
+	}tdMotor, *ptdMotor;	
+@} 
+The fields:
+\begin{description}
+\item[motorName] The name of the motor
+\item[table] A list of tabulated positions in the form of tdEntry
+\item[pMot] A pointer to the motor data structure.
+\end{description} 
+
+
+The tabledrive object itself needs a data structure too:
+@d tdobj @{
+typedef struct{
+	pObjectDescriptor pDes;
+	pIDrivable pDriv;
+	int motorTable;
+	int tableLength;
+	float targetPosition;
+	float currentPosition;
+	int state;
+	char orientMotor[80];
+	int debug;
+	}TableDrive, *pTableDrive;
+@} 
+The fields:
+\begin{description}
+\item[pDes] The standard SICS object descriptor
+\item[pDriv] The drivable interface which encapsulates most of the magic of this module.
+\item[motorTable] A list of tdMotor entries.
+\item[tableLength] The length of the path of positions.
+\item[targetPosition] The target position we have to drive to.
+\item[currentPosition] where we are now.
+\item[state] A state variable used during driving the path.
+\item[orientMotor] is the name of the orienting motor, i.e. the one used to determine
+ the position.
+\end{description}
+
+
+In terms of an interface, this object implements the drivable interface which has to 
+ deal with most of the work. There is just an interpreter interface which allows to 
+ configure and query the object.
+ 
+ @d tdint @{
+int TableDriveFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
+                  	int argc, char *argv[]);
+int TableDriveAction(SConnection *pCon, SicsInterp *pSics, void *pData,
+                  	int argc, char *argv[]);
+ 
+ @} 
+ 
+ 
+ @o tabledrive.h @{
+ /*---------------------------------------------------------------------------
+  SICS object for driving a couple of motors along a tabulated given path.
+
+  copyright: see file COPYRIGHT
+
+  Mark Koennecke, July 2005
+---------------------------------------------------------------------------*/
+#ifndef SICSTABLEDRIVE
+#define SICSTABLEDRIVE
+#include <sics.h>
+#include "../motor.h"
+/*-------------------------------------------------------------------------*/
+@<tdentry@>
+/*-------------------------------------------------------------------------*/
+@<tdmotor@>
+/*-------------------------------------------------------------------------*/
+@<tdobj@>
+/*-------------------------------------------------------------------------*/
+@<tdint@>
+
+#endif
+
+ @}
+