Create Navigator Firmware Component

robberwick commented 9 months ago

Navigator

Issue Description

The Navigator component is responsible for determining the robot's desired state. It takes in a state request and outputs a desired state. Additionally, it is responsible for converting high-level path planning requests from the Pi into a series of state requests for the State Manager. The Navigator also contains a control mux for switching control modes between the Pi and an RC transmitter.

Tasks

[x] Implement the Navigator firmware component.
[ ] Develop logic to determine and output the desired state based on input state requests.
[ ] Implement the control mux for switching between Pi and RC transmitter control.

Additional Information

More detailed information about the Navigator component can be found in the architecture document.

markmellors commented 8 months ago

what's left to do on this issue? control mux for switching between Pi and RC transmitter control. ? we also need a "navigate to waypoint strategy", but I guess that might need to come after we've got the pi comms working

markmellors commented 8 months ago

from the docs: It [the Navigator] takes the current robot state as input, I think the Navigator doesn't currently get the state from state_estimator, so I guess that also needs doing, once wild_stab_at_a_state is in main

robberwick commented 8 months ago

Well, I'm all for closing this vague, open ended issue in favour of further smaller more focused ones.

And I promise to raise less "boil the ocean" type issues in future 😉

markmellors commented 5 months ago

I think this has been acheived in PR #54 so this issue can be closed ? Techncially there isn't pi control yet, but the mux is in place for it

thingswebuilt / osod24_firmware