Communication Module
Overview
The Communication Module is a module that enables serial and TCP/IP communication with the robot.
This guide shows you how to create your own Framework Application besides the existing components provided by default in Dart-IDE.
This article assumes you're already familiar with Dart-IDE. If you aren't, we suggest you retake a look at Dr.Dart-IDE.
Create a new Communication Module Project
Open Dart-IDE, and do the following steps:
Step 1: In the main menu, select File > New Project.
Step 2: In the dialog that appears, select the Framework Application option in the Module section.
Step 3: Select the desired item and click the Next→ button.
Step 4: In the dialog that appears, fill up all necessary information.
For example:
Number | Title | Description |
|---|---|---|
1 | Name | The name of the new project. |
2 | Package Name | The package name of the new project. |
3 | Framework Module Category | Framework Module Category |
4 | Framework Module Sub Category | Framework Module Detailed category |
5 | Save Location | The folder where you save the new project on your local PC. |
6 | Module Version | Module Version |
7 | DART SDK Version | The Dr.Dart-SDK version of the new project. |
Step 5: Click Finish.
Step 6: Once the new project is created successfully, you can check its structure in the
Explorerpanel.
Step 7: To modify the communication module code, open and modify the
.hfile inside theincludefolder or the.cppfile inside the src folder.
Understanding the Communication Module project structure
The chart below describes the project source structure of a Communication Module project.
The main parts of a Communication Module project are:
lib: Library foldersrc: Package source folderinclude: package header file foldermanifest.json: Package information definition file
Communication Module project structure
Example
This image shows a robot with a hand-shaped gripper making drip coffee.
Communication module transmits 0x04. This means for the "Grasp Gripper" command.
Communication module should know that 0x04 means “Grasp Gripper”.
When a developer, using IDE, who wants to control the Gripper writes a communication module, write it according to the protocol.
Also communication module can also transmit data having other meanings.
On the other hand, the communication module may receive meaningful data.
Of course, that data means the Gripper's response.