bjrice13
commented
4 years ago Updated checklist to prepare for chassis auton. enhancements
Open bjrice13 opened 4 years ago
bjrice13
commented
4 years ago Updated checklist to prepare for chassis auton. enhancements
The Chassis (Drivetrain) needs the following functionalities:
[x] Drive forward for a set distance (tolerance: 1 inch)
[x] Drive backward for a set distance (tolerance: 1 inch)
[x] Point turn for a set amount (relative angle)
[ ] E-stop
It would be nice if the Chassis (Drivetrain) has the following functionalities:
[ ] Drive to an absolute coordinate (x, y, heading)
[ ] Point turn to a set angle (absolute angle)
[ ] Detect and correct for drift
[ ] Arc turn
[ ] E-stop when the robot unintentionally collides with a wall, other robot, etc.
Proposed UML Class Diagram:
Chassis \==========
========== +drive(inches : double) : double (error) +drive_power(speed : double) : void +turn(degrees : double, radius : double = 0) : double (error)