Architecture

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Framework Architecture

The proposed Framework provides services, libraries, and constructs.

Libraries

The Framework provides libraries such as motion control libraries (open-loop, closed-loop). Teams can customize the open source libraries.

Virtual Device

The "Virtual Device" is a key construct of the Framework. A Virtual Device:

• is bound to zero or more Platform I/O ports
• can have exclusive or shared access to the Platform I/O port
• can be bound to other Virtual Devices
• can run on any Platform of the MRC-Network that has the prerequisite ports
• can run team code

Any number of Virtual Devices can be instantiated on a Platform subject to availability of resources.

Virtual Devices are portable. A virtual device can be moved to another Platform of the MRC-Network for horizontal scaling and/or load balancing.

Stock Devices

The Framework provides stock Virtual Devices such as:

• EncoderPort, bound to:
  • DIO + DIO
• MotorController, bound to:
  • PWM + DIO, or
  • PWM + DIO + EncoderPort, or
  • PWM + PWM [...]

Custom Devices

Teams can customize the stock devices or create custom devices such as:

• Localization, bound to:
  • EncoderPort(x3), or
  • EncoderPort(x2) + IMU
• OmniController, bound to:
  • MotorController(x4), or
  • MotorController(x4) + Localization
• ObjectTracker, bound to:
  • MIPI Camera, or
  • USB Camera
• Actuator, bound to:
  • MotorController + DIO + DIO, or
  • MotorController + ADC [...]

MRC App

The MRC App hosts the OpModes. The App communicates with the Competition Controller or the Driver Station.

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