Add moscow explanation

[des2015.git] / marsrover / document / robot.tex

diff --git a/marsrover/document/robot.tex b/marsrover/document/robot.tex
index 5140b15..4fbaf5b 100644 (file)
--- a/marsrover/document/robot.tex
+++ b/marsrover/document/robot.tex
@@ -1,24 +1,32 @@
 \section{Robot architecture}
 \subsection{Tools}
-\emph{LeJOS}\cite{lejos_team_lejos_2015}
+\emph{LeJOS}~\cite{lejos_team_lejos_2015}
+
+\emph{XText}
+
+\emph{eclipse}
+
+\emph{Antlr}
+
+\emph{Xtend}
 
 \subsection{Design patterns}
-\subsubsection{Leader-Follower}
+\subsubsection{Producer-Consumer}
 Ultimately we want to only program one robot. The fact that the one robot
 contains multiple control bricks is something that needs to be abstracted away
 from. As will be discussed in Section~\ref{sec:mapping} the first brick, from
-now on \textit{Leader}, has the direct control over all the motors. However the
-second brick, from now on \textit{Follower}, controls no motors. Both the
-\textit{Leader} and the \textit{Follower} control $4$ sensors. Because of this
-configuration the \textit{Follower} only needs to send its sensor data to the
-\textit{Leader}. There is no need to communicate anything back since the
-\textit{Follower} can not respond in any physical way. An option could be to
+now on \emph{Consumer}, has the direct control over all the motors. However the
+second brick, from now on \emph{Producer}, controls no motors. Both the
+\emph{Consumer} and the \emph{Producer} control $4$ sensors. Because of this
+configuration the \emph{Producer} only needs to send its sensor data to the
+\emph{Consumer}. There is no need to communicate anything back since the
+\emph{Producer} can not respond in any physical way. An option could be to
 distribute the processing power but due to the strength of the bricks and the
 limitation of the bluetooth this is very hard or even impossible to achieve.
 
 \subsubsection{Subsumption}
 As the higher level architecture we use a slightly adapted version of the
-subsumption architecture first described by Brooks\cite{brooks_robust_1986}.
+subsumption architecture first described by Brooks~\cite{brooks_robust_1986}.
 We use the pre-implemented architecture from the \emph{LeJOS} where with the
 use of a \texttt{suppressed} flag in every behaviour we can start and interrupt
 the behaviour. Our version is a little bit adapted from the original
@@ -36,18 +44,19 @@ since the behaviour is always monitoring the state it will shutdown as soon as
 possible and reset the state.
 
 \subsection{Mapping of the sensors and actuators}\label{sec:mapping}
-The actuators are all plugged into the master brick to achieve the maximum
-safety in case the \emph{Bluetooth} connection fails between the master and the
-slave and one of the actuators is moving. All the safety-critical sensors for
-movement are placed on the master brick too. All other sensors are placed on
-the slave brick. Any increased latency on those sensors will not danger the
-safety. The final mapping is described in \autoref{tab:mapping}.
+The actuators are all plugged into the \emph{Consumer} to achieve the maximum
+safety in case the \emph{Bluetooth} connection fails between the
+\emph{Consumer} and the \emph{Producer} and one of the actuators is moving.
+All the safety-critical sensors for movement are placed on the \emph{Consumer}
+brick too. All other sensors are placed on the \emph{Producer} brick. Any
+increased latency on those sensors will not danger the safety. The final
+mapping is described in \autoref{tab:mapping}.
 
 \begin{table}[H]
        \centering
        \begin{tabular}{lll}
                \toprule
-                       & Master Brick & Slave Brick\\
+                       & \emph{Consumer} & \emph{Producer}\\
                \midrule
                \multirow{2}{*}{Actuators} & Left motor\\
                        & Right motor & \\
@@ -62,3 +71,7 @@ safety. The final mapping is described in \autoref{tab:mapping}.
        \caption{Proposed mapping of the sensors and actuators}\label{tab:mapping}
 \end{table}
 
+\subsection{Domain Specific Language}
+
+
+\subsection{Code Structure}
\ No newline at end of file