A place to go to when first learning about the Raven project

Understanding the Basic Architecture

https://www.figma.com/board/n1dBWqwE3yAfj0v3Hl1UzL/Raven-Architecture-Overview?node-id=0%3A1&t=lxL37eSsQQNsapSD-1

The Raven II software suite is made up of 2 physical stations: The Surgeon Station and Raven Station.

Surgeon Station

Consists of controllers, pedals, and 2 programs that run in tandem. The 2 programs communicate with each other by sending data structures wrapped as TCP packets.

Code for both programs can be found at this local Git repo (note you won’t be able to access it off campus without a VPN). You’ll need an account on our git server; email Jason to get one set up.

Unity Surgeon UI

Program the surgeon actually interfaces with. Also called USUI for short. Gets input from UI buttons and the pedals. Here the surgeon can enter the robot’s IP address, change the scale, and start and stop teleoperation.

Written in C# with Unity 2022.

Omni Client

Program that interfaces with the Omni controllers and sends the data over to the robot.

Has a servo loop running at 1000 Hz. Written in C++ for its faster optimization and Omni API. Tested with Visual Studio 2019

Networking

• USUI → Omni
  • flag01 - Bitwise flat integer. Represents basic state info like if the start button is pressed and if a pedal is pressed.
  • Robot udp address - Integer representation of the robot’s IP. Entered in a text field; int version is calculated by bit shifting the 4 “fields”
  • Scale - Scales down robot arm movement. Defaults to 5% of the omni’s actual movement. Adjusted through the buttons or slider.
  • Camera angles - Unused
• Omni → USUI
  • Omni position delta - Omni movement since the last update (or servo update? not sure). Original float values are multiplied by 1000 and rounded to be integers, so units are likely millimeters. Currently unused.
  • RunLevel - 3 if the pedal is up, 2 if it is down. From the old code it looks like it was intended to signify some error states, but never was implemented.
  • Tick - How many times has the servo loop run.

Raven Station

👷🏻🚧👷🏻

Getting Started

Below are tasks to help get you started on the Raven project. Each is structured like a mini project and is intended to get you used to the code base and comfortable with extending it. Some are targeted towards anyone relevant to the group, while others are targeted at specific team members. They range from beginner to advanced perceived difficulty. If you have any feedback on them, please leave a comment somewhere in the page and I’ll get to it.