updates to workstation and add controller api

docs/source/controller.rst

@@ -0,0 +1,61 @@
+**************
+Controller API
+**************
+
+Below is the specification for the modules of the Chess Project Python Program. This is to ensure that each module fulfills its function and that the overall goal of the project is achieved. Each module can then seperately be improved and updated, assuming compliance with this specification.
+
+**Clock** module:
+
+* Inputs:
+
+  * Initiate module
+  * Button press (type: mouse press)
+
+* Outputs:
+
+  * Up to date time for each player sent to display
+
+**Perception** module:
+
+* Inputs:
+
+  * Initiate module
+  * Camera feed (internal to module)
+  * Global coordinates
+  * Game Engine > Action command object:
+
+    * Converts and saves all locations to real-world coordinates
+
+* Outputs:
+
+  * BWE Matrix (type: numpy array)
+  * Synchronisation position of End effector?
+
+**Game Engine** module:
+
+* Inputs:
+
+  * BWE Matrix (type: numpy array)
+
+* Outputs:
+
+  * Action command object:
+
+    * Stores whether or not there is a death first
+    * Stores the piece type of death
+    * Stores location of death
+    * Stores move piece type
+    * Stores action-move (piece type)
+    * Stores action-move-from (location)
+    * Stores action-move-to (location)
+
+**Motion** module:
+
+* Inputs:
+
+  * Action command object - takes each command and builds a motion plan around it
+  * Takes in current robot Arm data and modifies motion plan accordingly
+
+* Outputs:
+
+  * Stores motion plan which gets passed to the publisher node

docs/source/index.rst

@@ -35,6 +35,7 @@ Contents
    :maxdepth: 2
    :caption: Project Development
 
+   controller
    perception
    chess-engine
    motion

docs/source/workstation.rst

@@ -27,9 +27,13 @@ https://apple.stackexchange.com/questions/257166/installing-ubuntu-on-mac-with-m
 On Windows PC
 -------------
 
-To install Ubuntu alongside Windows, you must first shrink you current partitions down so there is space to create a new partition. To do this, follow `this guide <https://www.howtogeek.com/214571/how-to-dual-boot-linux-on-your-pc/>`_.
+To install Ubuntu alongside Windows, you must first shrink you current partitions down so there is space to create a new partition. To do this, follow `this dual boot guide`_.
+
+If you are unable to shrink a partition with free space available, you need to defrag you partition. Unfortunately this may, or may not work just using Windows' built in application. If it doesn't work, use a third party tool, like the free `AOMEI Partition Assistant`_ to shrink your drive with space.
+
+.. _`this dual boot guide`: https://www.howtogeek.com/214571/how-to-dual-boot-linux-on-your-pc/
+.. _`AOMEI Partition Assistant`: https://www.aomeitech.com/aomei-partition-assistant.html
 
-You may need to `defrag you partition`_ which may, or may not work using Windows' built in application. If that doesn't work, use a third party tool, like the free `AOMEI Partition Assistant`_ to shrink your C: drive.
 
 After you have shrunk your drive and you have a suitable amount of space for Linux (50-100GB ideally) you need to check how many partitions you currently have. If you already have 4 partitions, e.g.:
 
@@ -115,3 +119,6 @@ Install other libraries
 It is recommended that you install OMPL:
 
 http://ompl.kavrakilab.org/installation.html
+
+.. warning::
+  The installation of OMPL takes several hours.