Use Cases

Use cases describe the services that the higher-level systems expect the embedded systems to provide.

Each use case consists of 3 things:

1. A title which describes the goal of the encounter.
2. An actor who is the external entity (or in our case, the higher-level system) initiating the encounter
3. The scenario which describes how the user's goal is accomplished by using our system

Update goal pose of robot

Actor: Controls

Scenario:

1. Control systems send a request to move each motor to a new position
2. Request is received and angle data is extracted
3. Angle data is organized into sets based on the physical groupings of motors in daisy chains
4. For each motor on each daisy chain, motor goal position commands are sent

Precondition Supposing the embedded software takes N units of time to execute a command to move the motors, then at least N units of time have passed since the last command to move the motors.

Get sensor data

Actor: Controls

Scenario:

1. Control systems send a request for (1) the position of each motor at the current time step (i.e. robot's pose); or (2) the acceleration and velocity along each axis; or (3) the pressure at each point on the feet
2. Request is received and interpreted
3. Fresh sensor data is transmitted to the PC, where fresh is as defined in the Requirements document