A Pseudo-Programming language designed to automate robots running my [ yet to be named ] framework
RASM ( very loosely ) follows the model of G-Code, following a syntax that can generally be summarized as [ OPCODE ARG1 ARG2 ARG3 ARG 4 ]. The name comes from a mash-up between Robot and Assembly. This is not designed to be any standard, nor replay any other standard, but rather as a quick and easy research project.
This section summarizes the opcodes used, and how to use them. As more are implemented, this list will expand. So far, the main target_ is the DOFBot platform, the code will therefore be prioritizing instructions for a 5-DOF articulated arm. Parameters marked with [ ] are optional.
* ANG param [ time ]
- Opcode 0, accepts 2 parameters
- Sets single servo to specified angle
* ANGS `param1 [ param2 ] [ param3 ] [ param4 ] [ param5 ]
[ param6 ] [ time ]`
- Opcode 1, accepts 1 to 6 parameters for angles and 1 for time
- Sets a number of servos to the specified angles
- Note: setting an angle to "null" tells the robot it should
not change its value
* DEL param
- Delays for given time ( in ms )
* OFS param1 param2
- Defines an param2 as an offset for the servo with param1
as index
* NME param
- Sets a name for the program
* SPD param
- Defines a "global" speed to be used when the time
parameter is left unfilled for the angles
* GHME
- Go home, returns robot to the home position_
* SHME [ param1 ], [ param2 ], [ param3 ], ... [ param6 ]
- Set the robot's home to current position_
- Alternatively, if *ALL* of the params are filled in with
valid values, home is set to them.
* INC param1 param2
- Increment the value of a servo by param2 degrees
- Param2 may also be negative, resulting in a decrement
* DEC param1 param2
- Explicit decrement of the value of a servo
* RPP param1, param2, param3
- Rapid positioning to x, y, z in space, calculated by IK.
* IPP
- Interpolated positioning to x, y, z
* END
- Marks end of a program
* GTO
- GOTO instruction number, useful for loops
* IF param1 CONDITION param2 GOTO param3
- CONDITION is any of LE ( less or equal ), L ( less ), GE
( greater or equal ), G ( greater ), EQ ( equal )
- INSTRUCTION should be a reachable instruction number in the program
- GOTO *must* be present
* IFN param1 CONDITION param2 INSTRUCTION
- Same as IF, however truth condition is inverted
* ABR
- Abort, cuts power to the servos
I plan to also have support for variables, though this may be a bit more complex
* $ param1 param2
- declare a Variable of name param1 with numeric value param2
- NOTE: please note the space between $ and the Variable name
* #param1
- use plain numeric value, without explicitly assigning a Variable
- note THE LACK of space between # and the value
* @ param1 param2
- declare Variable of the name param1 with string value param2
- NOTE: strings are declared read-only
* PRT param1
- print param1 to the debug console
* ADD param1 param2 param3
- puts param2 + param3 into param1
* SUB
- puts param2 - param3 into param1
* DIV
- puts param2 / param3 into param1, truncating decimals
* FDIV
- puts param2 / param3 into param1, keeping decimal precision
* SQRT prarm1, param2
- puts sqrt( param2 ) into param2
* TRNC param1
- discards decimals of param1
| OPCODE | Assembler support | Interpreter support |
|---|---|---|
| ANG | [ x ] | [ x ] |
| ANGS | [ x ] | [ x ] |
| DEL | [ x ] | [ x ] |
| OFS | [ x ] | [ ] |
| NME | [ x ] | [ x ] |
| SPD | [ x ] | [ x ] |
| GHME | [ x ] | [ x ] |
| SHME | [ x ] | [ ] |
| INC | [ x ] | [ x ] |
| DEC | [ x ] | [ x ] |
| RPP | [ ] | [ ] |
| IPP | [ ] | [ ] |
| END | [ x ] | [ ] |
| GOTO | [ x ] | [ x ] |
| IF | [ ] | [ ] |
| IFN | [ ] | [ ] |
| ABR | [ ] | [ ] |
| OPCODE | Assembler support | Interpreter support |
|---|---|---|
| LE | [ ] | [ ] |
| L | [ ] | [ ] |
| GE | [ ] | [ ] |
| G | [ ] | [ ] |
| EQ | [ ] | [ ] |
| OPCODE | Assembler support | Interpreter support |
|---|---|---|
| # | [ x ] | [ x ] |
| @ | [ ] | [ ] |
| PRT | [ x ] | [ x ] |
| ADD | [ x ] | [ x ] |
| SUB | [ x ] | [ x ] |
| DIV | [ x ] | [ x ] |
| FDIV | [ x ] | [ x ] |
| SQRT | [ x ] | [ x ] |
| TRNC | [ x ] | [ x ] |