Embedded Motion Control 2017 Group 1: Difference between revisions
Jump to navigation
Jump to search
| Line 80: | Line 80: | ||
| Stop omniwheels | | Stop omniwheels | ||
|- | |- | ||
| | | driveForward | ||
| | | Accelerate or decelerate | ||
|- | |- | ||
| | | driveBackward | ||
| | | Drive backward | ||
|- | |- | ||
| | | driveLeft | ||
| | | Move left | ||
|- | |- | ||
| | | driveRight | ||
| | | Move right | ||
|- | |- | ||
| | | ringBell | ||
| | | Ring the bell of the door. | ||
|- | |- | ||
| rowspan="11" | Mid-level | | rowspan="11" | Mid-level | ||
| | | detectWall | ||
| | | Detect a wall (~30cm) | ||
|- | |- | ||
| | | detectCorner | ||
| | | Detect a corner (crossing of two walls) | ||
|- | |- | ||
| | | detectDeadEnd | ||
| | | Detect a dead end | ||
|- | |- | ||
| | | detectFinish | ||
| | | Detect the finish line | ||
|- | |- | ||
| | | detectOpenSpace | ||
| | | Detect an open space | ||
|- | |- | ||
| | | detectOpenWorld | ||
| | | Detect if in the open world (like the maxe exit) | ||
|- | |- | ||
| | | detectTJunction | ||
| | | Detect a T-junction (where three corridors meet) | ||
|- | |- | ||
| | | detectCrossing | ||
| | | Detect a crossing (where the four corridors meet) | ||
|- | |- | ||
| | | shutDown | ||
| | | Terminate robot, if required | ||
|- | |- | ||
| | | checkDoor | ||
| | | Send a signal and wait x seconds | ||
|- | |- | ||
| | | chooseCorridor | ||
| | | Choose which corridor to take | ||
|- | |- | ||
| rowspan="6" | High-level | | rowspan="6" | High-level | ||
| | | stayBetweenWalls | ||
| | | Stay in the center of two walls | ||
|- | |- | ||
| | | createMap | ||
| | | Build map of surroundings | ||
|- | |- | ||
| | | trackPath | ||
| | | track the path through the map | ||
|- | |- | ||
| | | detectLoop | ||
| | | Detect a loop in the maze | ||
|- | |- | ||
| | | detectStack | ||
| | | Detect if stuck | ||
|- | |- | ||
| | | optimalDecision | ||
| | | Decide next move based on given algorithm | ||
|} | |} | ||
Revision as of 16:23, 8 May 2017
Group Members
| Name: | Student id: | E-mail: |
| Karel van de Plassche | 0653197 | |
| Joey Hendriks | 0773023 | |
| Ioannis-Dionysios Bratis | 0978560 | |
| Jad Haj Mustafa | 0734333 | |
| Jip Reinders | 0853301 | |
| Juliana Langen | 0617062 | |
| Yanick Douven | Tutor | ' |
Initial Design
(TODO: link to file:) Test
Requirements
Functions
| Function | Description | |
|---|---|---|
| Low-level | initialize | Initialize actuators |
| readSensors | Read the odometer and laser data | |
| turnLeft | Turn 90° left | |
| turnRight | Turn 90° right | |
| turnAround | Turn 180° | |
| stopMovement | Stop omniwheels | |
| driveForward | Accelerate or decelerate | |
| driveBackward | Drive backward | |
| driveLeft | Move left | |
| driveRight | Move right | |
| ringBell | Ring the bell of the door. | |
| Mid-level | detectWall | Detect a wall (~30cm) |
| detectCorner | Detect a corner (crossing of two walls) | |
| detectDeadEnd | Detect a dead end | |
| detectFinish | Detect the finish line | |
| detectOpenSpace | Detect an open space | |
| detectOpenWorld | Detect if in the open world (like the maxe exit) | |
| detectTJunction | Detect a T-junction (where three corridors meet) | |
| detectCrossing | Detect a crossing (where the four corridors meet) | |
| shutDown | Terminate robot, if required | |
| checkDoor | Send a signal and wait x seconds | |
| chooseCorridor | Choose which corridor to take | |
| High-level | stayBetweenWalls | Stay in the center of two walls |
| createMap | Build map of surroundings | |
| trackPath | track the path through the map | |
| detectLoop | Detect a loop in the maze | |
| detectStack | Detect if stuck | |
| optimalDecision | Decide next move based on given algorithm |