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TRS Explained Part 6

The Device API's
   
 




 
Device APIs: These are the drivers and APIs which come with the hardware used to build the robot. (I/O boards, sensors, and controllers) In truth the APIs sit outside of the TRS, but are necessary to mention because the TRS cannot work without them.
 
The Sensor & Controller Libraries take care of communicating with the Bridgeware APIs. Every motor and sensor in a robot has information about which hardware it's attached to that is stored in the TROM. The Sensor & Controller Libraries use this information to know how to find and communicate with the proper API's.
 
We aren't going to delve deeper than this right now about the inner workings of how the APIs and Sensor & Controller Libraries interact. The truth is most users won't even have to know what is happening at this level because it happens "behind the curtain." For example, a user commits to a robotic movement when they update a joint angle in the TROM. The Control Library sees this new joint angle and on its own takes care of transferring the new state to the motors. A developer doesn’t need to worry about any of this. Their job is done when they update the TROM with new positions or shaft speeds.
 
This is one of the major benefits of the TRS. If you are working with common hardware then the necessary code to interact with these components has already been written and you can concentrate on developing behavioral code instead of "plumbing."