Arm Software Control Programmer Notes

 Application Name:

 <>armSc

Left Arm = LarmSc
Right Arm = RarmSc
Grapple Arm = GarmSc
Video Arm = VarmSc
Left 8DOF Arm = Larm8Sc
Right 8DOF Arm = Rarm8Sc

 Development Path:

 ACS/armCS/asc

 Wm_appl =

 <>3

Left Arm = 33
Right Arm = 43
Grapple Arm = 53
Video Arm = 63
Left 8DOF Arm = 83
Right 8DOF Arm = 93

 Wm_winNum =

 1

Contents

Form Information
<> Arm Software = ascArm

Form Infomation


Wm_form[1] = ascArm
Label = "<> Arm Software"
eg. Left Arm Software, Right Arm Software, Grapple Arm Software, Video Arm Software, Left 8DOF Arm Software, Right 8DOF Arm Software

Objects

cac_CmdObj
[1] Command Authority Button -> cmdCB(0)
 
ascSysObj
[0] File Menu button -> wm_fileMenuButtonCB(0)
[2] Display Menu Button -> wm_displayMenuButtonCB(0)
 
ascChoiceObj
None
 
ascLabelObj
[1] System Modules
[2] {ARM} Modules
where {ARM} is substituted by the appropriate arm code Right = DXR, Left = DXL, Grapple = GRP, Video = VID, Right 8DOF = DXR8, Left 8DOF = DXL8
[3] Line connecting RR->FT
[4] Line Connecting FT->IC
 
ascCmdObj
[1-53] Module Button -> asc_ButtonCB(ModuleId)
where ModuleId is given by the file asc_module_id.h, which is derived from module_id.h
 NBV  DXL  DXR  GRP  VID
 1  THR
 2  IMU
 3  EST
 4  CON
 10  PMU
 13  FLTTCX
 20  BCS
 22 ESU
 26  CTR
 15  DXLTCX
 16  DXL
 17  DXLJJ
 18  DXLRR
 19  DXLTRJ
 31  DXLIC
 32  DXLJR3
 6  DXR
 7  DXRJJ
 9  DXLRR
 11  DXLTRJ
 14  DXLTCX
 27  DXLIC
 28  DXLJR3
 23  GRP
 24  GRPJJ
 25  GRPSC
 34  GRPTCX
 50  GRPTRQ*
 51  GRPFT*
 52  GRPIC*
 29  VID
 30  VIDJJ
 33  VIDRR
 35  VIDTCX
 53  VIDTRQ
where * indicates that software module is not used.
 
ascCmd1Obj
[1] Shutdown Button -> asc_ShutdownCB(0)
 
ascTelObj
None