The detailed API document is under construction.
The source codes of Stack-chan has TSDoc style comments.
For generating documents, you need tsconfig.json under firmware directory.
To do this, run build task once.
It automatically generates tsconfig.json and creates a link.
$ npm run build
...
> [email protected] postbuild /home/user/repos/stack-chan/firmware
> ln -sf $MODDABLE/build/tmp/${npm_config_target=esp32/m5stack}/debug/stackchan/modules/tsconfig.json ./tsconfig.json
$ file tsconfig.json
tsconfig.json: symbolic link to /home/user/.local/share/moddable/build/tmp/esp32/m5stack/debug/stackchan/modules/tsconfig.jsonThen you can generate documents under docs/api by running:
$ npm run generate-apidocThe Robot class is used to access the functions of the Stack-chan.
The following classes are defined to allow replacement and customization of Stack-chan functions.
// TODO: Class diagram and description
Stack-chan's coordinate system is a right-handed system. When you bend your right hand's thumb, index finger, and middle finger so that they are perpendicular to each other, the thumb is the X-axis, the index finger is the Y-axis, and the middle finger is the Z-axis.
When Stack-chan's face is facing forward, the positive direction of each axis is as follows:
- Positive direction of X-axis... front of the face
- Positive direction of Y-axis... left side of the face
- Positive direction of Z-axis... head side
Also, the direction of rotation is the direction in which the right-hand screw advances in relation to the positive direction of the axis. In the case of Stack-chan's face, when rotating around each axis in the positive direction, it is as follows:
- Roll axis (rotation around X-axis) positive direction... Clockwise head tilt as seen from Stack-chan
- Pitch axis (rotation around Y-axis) positive direction... Stack-chan looking down
- Yaw axis (rotation around Z-axis) positive direction... Stack-chan looking to the left
In Stack-chan's API, the unit of coordinates is meters and the unit of angles is radians.
Correspondence with the coordinate system can also be referenced in the actual source code (e.g. mods/look_around etc.)"