Adapt ultrasonic and light pollers to make use of the SensorData class.

L3gume / DPMProject

Final project for the design principles and methods (ECSE 211) at McGill University

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Adapt ultrasonic and light pollers to make use of the SensorData class. #1

Closed L3gume closed 7 years ago

L3gume commented 7 years ago

It is important to keep in mind that the ultrasonic sensor will be used for:

Ultrasonic localization
Obstacle avoidance
Searching for the "flag"

and that the light sensors (3 of them) will be used for:

(two on the sides) Light localization and angle correction during navigation
(one of both of the sides) detecting whether or not the robot is grounded (values goes below 0.1 when on zipline)
(one in the middle) colour identification

pwnalone commented 7 years ago

That's what the SensorData class is for - to provide a single location to receive sensor data for whichever classes that need it. I was thinking that the Navigator class could handle both navigation and obstacle avoidance (since it would probably be simpler that way, i.e. we could just implement a state machine where it could be NAVIGATING, AVOIDING_OBSTACLE, etc.).

As for the two extra light sensors, I will add support for them in the SensorData class.

L3gume commented 7 years ago

The navigator does handle both navigation and obstacle avoidance.

The task basically means: "write the poller classes" hehe.

EDIT: read through your commit too fast and didn't realize it was already done haha! closing the issue now.