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JackieJ / WartHog

UCLA Robotics, Robomegallen 2013
2 stars 2 forks source link

Documentation of the FSM/Controller update #2

Open JackieJ opened 11 years ago

JackieJ commented 11 years ago

Hi everyone,

Here is an update of the documentation for the FSM/Controller implementation.

https://github.com/CloudClown/WartHog/blob/jackie/Doc/centralController.md

It contains details of the states, transition conditions, inputs/outputs and the implementation of the message processing.

A loose implementation of the "walk state" is done, which is the central state of the controller. It generates proper twist messages the motors listen to so that the bot moves accordingly. Most of the time the bot will be in this state and we need lots of testing to decide the values of the global variables.

I will put on the rest of the documentation(description of the rest of the states) next week so that you can have an idea of what your part of the code should do in order to generate message inputs for the controller. Also I will put on a simple emulator of the bot's movement based on the controller's IO to see how it works.

Leave comments below this issue if you have questions and good luck on finals!

Jackie

JackieJ commented 11 years ago

@edsfocci @SuperNerdMiguel @aamoyg @jennhuang

edsfocci commented 11 years ago

@CloudClown Jackie, can you add descriptions under each mode explaining what each mode does in a North Campus-friendly way? I shouldn't have to navigate through code to figure out what you are trying to do for each mode.

Also, sorry for ruining your document; I am a little new with this issue tracker thing. You can remove my comment from your document if you want.

JackieJ commented 11 years ago

Yeah. That's part of my plan it's not done yet. On Mar 18, 2013 12:43 PM, "edsfocci" notifications@github.com wrote:

@CloudClown https://github.com/CloudClown Jackie, can you add descriptions under each mode explaining what each mode does in a North Campus-friendly way? I shouldn't have to navigate through code to figure out what you are trying to do for each mode.

— Reply to this email directly or view it on GitHubhttps://github.com/CloudClown/WartHog/issues/2#issuecomment-15077071 .

JackieJ commented 11 years ago

@edsfocci @SuperNerdMiguel @aamoyg @jennhuang,

The FSM doc is updated. Please check it out to get an idea of what kinda messages are needed. Thanks

Jackie