1 File structure of this directory:
2
3 <> sim-motor dir includes simulated motor driver
4
5 <> stepper dir includes a stepper motor driver
6
7 <> servo dir includes servo motor driver, briefly:
8
9 Lower motor driver is a Command/Data transport layer, it interacts directly with the motor controller through a serial communication port exchanging command and status data.
10 Files include: servo/raw_dc_motor_controller.
11
12 The middle Status Verification layer driver achieves a complex functionality level, including continuous verification of the motor status.
13 Files include: servo/status_verifier_misc.c, servo/status_verifier_main.c.
14
15 The upper Mobility Control layer driver is responsible for node actuation control in a 2D space. It is at this layer that specific mapping of actuator motion to NIMS node motion is managed.
16 Files include:
17 servo/mobility_control_cb.c,
18 servo/mobility_control_main.c,
19 servo/mobility_control_misc.c,
20 ../devel/as-emstar/client/tcp_func.c
21
22 <> include dir contains all the header files.
23 <> test dir includes two test files for the motor driver.
24 <> testtab dir includes emrun script files to start the motor driver
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