molecubes morphology file spec

7/28/2019 Molecubes Morphology File Spec

1/5

Molecube Morphology File (*.mmf) Specification

Date Revision Description Engineer

28-Mar-2008 1

Initial official revision, file structure

implemented and functioning to this spec. Phelps Williams


2/5

Overall Molecube Morphology File Structure

Item Range Contents

cubecount 0 - 255 Number of cubes in the morphology, this corresponds ot the number

cubes[] Array of module descriptorsmorphology checksum 0 - 255

statecount 0 - 2^32 Number of state descriptors in the state array

state[] Array of state descriptors

state checksum 0 - 255

List of Modules is an array listing all Module Descriptors - by the number of Molecube modules comprisin

Module Descriptor is a simple feature list that includes the following items

Item Range Contents

ID 0 - 253 individual Molecube module identifier, address 0xFE is reserved for b

Class 0 - 255 Molecube class identifier, such as AX-12 servo, South actuator half, N

NumLinks 0 - 255 Number of physical connections this module has in Molecube assem

Links[ ] Array of Link Descriptors - structures with physical connection specif

List Array stores all physical connections existing between modules in the Molecube assembly

Link Descriptor is a simple feature list including two sets of items, describing both joint Molecube connect

Item Range Contents

selfID 0 - 253 individual Molecube module identifier of the first joint module

selfClass 0 - 255 Molecube class identifier of the first joint module

selfSide 0 - n The joint interface identifier for the first joint module (see Module C

selfOrient 0 - 3 Orientation of the first module relative to the second (see Orientatio

neighborID 0 - 253 individual Molecube module identifier of the second joint module

neighborClass 0 - 255 Molecube class identifier of the second joint module

neighborSide 0 - n The joint side identifier for the second joint module

Orientation Convention

There are four possible relative orientations of the Molecube interfaces relative

Each of these four orientations can be characterized by one of four pin intercon

Orientation 0 Orientation 1 Orientatio


3/5

Face A Face B Face A Face B Face A

Pin 0 Pin 3 Pin 0 Pin 2 Pin 0




Module Connector Identification Conventions

Face ID Actuator Gripper Controller

0 South Main Main Triplet Main

1 South Right Right Triplet Right

2 South Left Left Triplet Left

3 North Main Duet Main

4 North Right

5 North Left Duet Left

State Descriptor - a state descriptor maintains some representation of physical or logical state at a point in

Item Range Contents

id 0 - 255 Molecube address

class 0 - 255 Molecube class

timestamp 0 - 2^32 Time of state validity

channel 0 - 255 Telemetry Channel represented

value 0 - 2^32 Telemetry Channel value

Telemetry Channel Definitions - reference to cube specific channels of telemetry

Class Channel Description

0xFA South Actuator Half

0x00 Actuator position in 10ths of degrees

0xF8 Gripper

0x00 Gripper position


4/5

of module descriptors

the assembly

roadcasting

orth actuator half, etc.

ly

ications - size of array specified by NumLinks

rs and their relative orientation

nnector Identification Conventions below)

n Convention below)

to each other when joint together

ection variants below

2 Orientation 3


5/5

Face B Face A Face B

Pin 1 Pin 0 Pin 0

Pin 0 Pin 1 Pin 3

Pin 3 Pin 2 Pin 2

Pin 2 Pin 3 Pin 1

Battery

Triplet Main Masters

Triplet Right

Triplet Left

Duet Main Slaves

Duet Right

time

molecubes morphology file spec

Documents