Syntax of botMove and botTurn* commands

IEEERobotics / high-level

CV, localization, mapping, planning, and generally anything that will run on the PandaBoard

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Syntax of botMove and botTurn* commands #18

Closed dfarrell07 closed 11 years ago

dfarrell07 commented 11 years ago

A few questions:

If I wanted to tell the bot to move in reverse for some distance, would I:
- Pass a negative distance to botMove and use the default speed (preferred)?
- Pass a positive distance and use a negative speed (more information for me to track)?
If I wanted the bot to turn 1/16th of a rotation counter-clockwise, would I:
- Call botTurnRel(-22.5)?
- Call botTurnRel(337.5) and let the low-level code recognize that it should turn counter-clockwise for angles larger than 180?

ghost commented 11 years ago

The speed is negative and the distance is positive for a reverse motion. In fact, I am not sure if there is a check anywhere for a negative distance; we must avoid passing a negative distance. Ethan probably knows if the speed angle is -ve or +ve since the bot is now rear wheel drive.