https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&feed=atom&action=historyEmbedded Motion Control 2018 Group 8 - Revision history2024-03-29T12:38:45ZRevision history for this page on the wikiMediaWiki 1.39.5https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&diff=77272&oldid=prevS135773: /* Doors */2019-06-14T13:07:56Z<p><span dir="auto"><span class="autocomment">Doors</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:EMC_DoorDetection.png|frame|right| A door object being identified]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:EMC_DoorDetection.png|frame|right| A door object being identified]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The doors contain the points to where PICO should drive to enter and exit a room. A door is created by the [[#Door_detection | monitoring module]]. These point are stored as nodes and can be called by the planning to determine the way points for the driving skill. They are determined geometrically by the corner nodes of which the door consists. They are placed at a certain distance from the corners to avoid collisions as visible in the figure to the right.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The doors contain the points to where PICO should drive to enter and exit a room. A door is created by the [[#Door_detection | monitoring module]]. These point are stored as nodes and can be called by the planning to determine the way points for the driving skill. They are determined geometrically by the corner nodes of which the door consists. They are placed at a certain distance from the corners to avoid collisions as visible in the figure to the right.</div></td></tr>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>====Room====</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>====Room====</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>A room consists of a number of nodes and a list of the existing connections. The room thus contains a vector of nodes. Room nodes are updated until the robot leaves the room. The coordinates are than stored relative to the door. The nodes are than inverted with respect to the door. This is necessary for the possible situation where PICO needs to pass through the same door from the other side. If for it returns from another room and desires to return to the hallway, the door leading to the hallway will be flipped. In this way it will not be necessary to update the land marks in every room where PICO is not situated in but still have a usable map once PICO enters the room. This is further described under [[#Monitoring | monitoring]] and [[#Planning | planning]]. There are two types of hypothesized doors. The strongest hypothesized door is identified by at least one outward corner. The other is identified as adjacent to an open node.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>A room consists of a number of nodes and a list of the existing connections. The room thus contains a vector of nodes. Room nodes are updated until the robot leaves the room. The coordinates are than stored relative to the door. The nodes are than inverted with respect to the door. This is necessary for the possible situation where PICO needs to pass through the same door from the other side. If for it returns from another room and desires to return to the hallway, the door leading to the hallway will be flipped. In this way it will not be necessary to update the land marks in every room where PICO is not situated in but still have a usable map once PICO enters the room. This is further described under [[#Monitoring | monitoring]] and [[#Planning | planning]]. There are two types of hypothesized doors. The strongest hypothesized door is identified by at least one outward corner. The other is identified as adjacent to an open node.</div></td></tr>
</table>S135773https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&diff=61124&oldid=prevS160708: /* Driving */2018-06-20T21:46:37Z<p><span dir="auto"><span class="autocomment">Driving</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>Parking can be considered as moving backwards to a point therefore the Park command function will have a lot in common with the Drive to Point function. The difference is is that the movements are mirrored. The Drive to Point function uses a target point, which is defined relatively to PICO, as input. The function starts by checking where the target point is: if it is behind PICO, at the far side of PICO, close to the side of PICO or if it is in front of PICO. PICO will than align to ensure that the target point is in front of him. If the target is close to PICO, PICO will stop. All the possible movements, except stopping when PICO is close to its target, are illustrated in the figure below <del style="font-weight: bold; text-decoration: none;">for </del>the <del style="font-weight: bold; text-decoration: none;">Drive to Point function </del>with x the radial coordinate and y the polar coordinate.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>Parking can be considered as moving backwards to a point therefore the Park command function will have a lot in common with the Drive to Point function. The difference is is that the movements are mirrored. The Drive to Point function uses a target point, which is defined relatively to PICO, as input. The function starts by checking where the target point is: if it is behind PICO, at the far side of PICO, close to the side of PICO or if it is in front of PICO. PICO will than align to ensure that the target point is in front of him. If the target is close to PICO, PICO will stop. All the possible movements, except stopping when PICO is close to its target, <ins style="font-weight: bold; text-decoration: none;">for the Drive to Point function </ins>are illustrated in the figure below <ins style="font-weight: bold; text-decoration: none;">to </ins>the <ins style="font-weight: bold; text-decoration: none;">right </ins>with x <ins style="font-weight: bold; text-decoration: none;">as </ins>the radial coordinate and y <ins style="font-weight: bold; text-decoration: none;">as </ins>the polar coordinate.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:driver.jpg|framed|right|The Drive to Point function with the possible driving methods of PICO for aligning to the target point]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:driver.jpg|framed|right|The Drive to Point function with the possible driving methods of PICO for aligning to the target point]]</div></td></tr>
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</table>S160708https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&diff=61116&oldid=prevS160708 at 21:44, 20 June 20182018-06-20T21:44:39Z<p></p>
<a href="https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&diff=61116&oldid=61068">Show changes</a>S160708https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&diff=61068&oldid=prevS160708: /* Monitoring */2018-06-20T21:09:53Z<p><span dir="auto"><span class="autocomment">Monitoring</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=== Monitoring ===</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=== Monitoring ===</div></td></tr>
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<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;"><span style="color:orange">ADD A PICTURE OF THE OUTPUT GIVING THE COORDINATES OF A ROOM?</span></del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The monitoring stage of the software architecture is used to check if it is possible to fit objects to the data of the perception block. For instance by combining four corners into a room. The room is then marked as an object and stored in the memory of the robot. The same is done for doors. This way it is easier for the robot to return to a certain room instead of exploring the whole hospital again. Monitoring is thus responsible for the creation of new room instances, setting of the room attribute explored to 'True' and maintaining the hypotheses of reality. Also the monitoring skill will send out triggers for the planning block if a room is fully explored. It also keeps track of which doors are already passed and which door leads to a new room. </div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The monitoring stage of the software architecture is used to check if it is possible to fit objects to the data of the perception block. For instance by combining four corners into a room. The room is then marked as an object and stored in the memory of the robot. The same is done for doors. This way it is easier for the robot to return to a certain room instead of exploring the whole hospital again. Monitoring is thus responsible for the creation of new room instances, setting of the room attribute explored to 'True' and maintaining the hypotheses of reality. Also the monitoring skill will send out triggers for the planning block if a room is fully explored. It also keeps track of which doors are already passed and which door leads to a new room. </div></td></tr>
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</table>S160708https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&diff=60939&oldid=prevS119866: /* Mapping */2018-06-20T18:45:18Z<p><span dir="auto"><span class="autocomment">Mapping</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>'''Resulting Map'''</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>'''Resulting Map'''</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>The results of the mapping is shown in figure. The figure shows the map that is made in openCV and the EMC visualiser. What is clear to see is that the laser range finder has more range than the visualizer is actually showing. In the first figure, pico is at the starting position in the hallway. The visualizer doesn't show the walls inside the rooms, but as can be seen from the map that is made, they are detected. The same holds for the second picture where pico is standing inside a room. The visualizer only shows the corners of the current room, but in fact the back wall of the next room and a section of the hallway are also detected. </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>The results of the mapping is shown in figure. The figure shows the map that is made in openCV and the EMC visualiser. What is clear to see is that the laser range finder has more range than the visualizer is actually showing. In the first figure, pico is at the starting position in the hallway. The visualizer doesn't show the walls inside the rooms, but as can be seen from the map that is made, they are detected. The same holds for the second picture where pico is standing inside a room. The visualizer only shows the corners of the current room, but in fact the back wall of the next room and a section of the hallway are also detected<ins style="font-weight: bold; text-decoration: none;">. The visualizer is also showing the doornodes that the monitoring section has found with the blue dots</ins>. </div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
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</table>S119866https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&diff=60933&oldid=prevS119866: /* Mapping */2018-06-20T18:41:57Z<p><span dir="auto"><span class="autocomment">Mapping</span></span></p>
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<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">[[File:EMC_map_room.png]]</ins></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Group Review ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Group Review ==</div></td></tr>
</table>S119866https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&diff=60931&oldid=prevS119866: /* Mapping */2018-06-20T18:41:02Z<p><span dir="auto"><span class="autocomment">Mapping</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 19:41, 20 June 2018</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Hospital_4rooms.png]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Hospital_4rooms.png]]</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">[[File:EMC_map_hallway.png]]</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">[[File:EMC_map_room.png]]</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Group Review ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Group Review ==</div></td></tr>
</table>S119866https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&diff=60759&oldid=prevS147706: /* Driving */2018-06-20T16:00:02Z<p><span dir="auto"><span class="autocomment">Driving</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*Park</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*Park</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>As parking can be considered as moving backwards to a point, the Park comand function will have a lot in common with the Drive to Point function, except it is mirrored. <del style="font-weight: bold; text-decoration: none;">Therefore, only the Drive to Point function is explained below:</del></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>As parking can be considered as moving backwards to a point, the Park comand function will have a lot in common with the Drive to Point function, except it is mirrored. The Drive to Point function uses a target <ins style="font-weight: bold; text-decoration: none;">point </ins>which is defined relativly from PICO as input. The function starts by checking where the target point is<ins style="font-weight: bold; text-decoration: none;">, if it </ins>is behind PICO, <ins style="font-weight: bold; text-decoration: none;">if it </ins>is <ins style="font-weight: bold; text-decoration: none;">at </ins>the <ins style="font-weight: bold; text-decoration: none;">far side </ins>of PICO, <ins style="font-weight: bold; text-decoration: none;">if it </ins>is <ins style="font-weight: bold; text-decoration: none;">at </ins>the <ins style="font-weight: bold; text-decoration: none;">side of </ins>PICO <ins style="font-weight: bold; text-decoration: none;">or </ins>if <ins style="font-weight: bold; text-decoration: none;">it </ins>is in front of PICO. PICO will <ins style="font-weight: bold; text-decoration: none;">than allign to put </ins>the target point <ins style="font-weight: bold; text-decoration: none;">in front </ins>of <ins style="font-weight: bold; text-decoration: none;">him</ins>. If the <ins style="font-weight: bold; text-decoration: none;">target </ins>is <ins style="font-weight: bold; text-decoration: none;">close to </ins>PICO, PICO will <ins style="font-weight: bold; text-decoration: none;">stop</ins>. <ins style="font-weight: bold; text-decoration: none;">All </ins>the <ins style="font-weight: bold; text-decoration: none;">possible movements</ins>, <ins style="font-weight: bold; text-decoration: none;">except for </ins>the <ins style="font-weight: bold; text-decoration: none;">stopping when </ins>PICO is <ins style="font-weight: bold; text-decoration: none;">close </ins>to <ins style="font-weight: bold; text-decoration: none;">its </ins>target <ins style="font-weight: bold; text-decoration: none;">are illustrated </ins>in the <ins style="font-weight: bold; text-decoration: none;">figure below for </ins>the Drive to <ins style="font-weight: bold; text-decoration: none;">Point function with x </ins>the <ins style="font-weight: bold; text-decoration: none;">radial coordinate </ins>and <ins style="font-weight: bold; text-decoration: none;">y </ins>the <ins style="font-weight: bold; text-decoration: none;">polar </ins>coordinate.</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>The Drive to Point function uses a target <del style="font-weight: bold; text-decoration: none;">poin </del>which is defined relativly from PICO as input. The function starts by checking where the target point is<del style="font-weight: bold; text-decoration: none;">. The following situations can occur:</del></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">[[File:driver.jpg|framed|right|</ins>The <ins style="font-weight: bold; text-decoration: none;">Drive </ins>to <ins style="font-weight: bold; text-decoration: none;">Point function with </ins>the <ins style="font-weight: bold; text-decoration: none;">possible driving methods </ins>of PICO <ins style="font-weight: bold; text-decoration: none;">for aligning to </ins>the target point<ins style="font-weight: bold; text-decoration: none;">]]</ins></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">*The target point </del>is behind PICO, <del style="font-weight: bold; text-decoration: none;">which means that the x coordinate of the target point </del>is <del style="font-weight: bold; text-decoration: none;">a negative number.-> PICO will rotate until </del>the <del style="font-weight: bold; text-decoration: none;">target point is in the front </del>of PICO, <del style="font-weight: bold; text-decoration: none;">as direction of rotation, the shortest direction </del>is <del style="font-weight: bold; text-decoration: none;">choosen. This will mean that if </del>the <del style="font-weight: bold; text-decoration: none;">target is originally right from </del>PICO<del style="font-weight: bold; text-decoration: none;">, which corresponds with a negative y coordinate, PICO will rotate counter clockwise and </del>if <del style="font-weight: bold; text-decoration: none;">the target is left from PICO, which corresponds with a positive y value, PICO will rotate clockwise until the target point </del>is in <del style="font-weight: bold; text-decoration: none;">the </del>front of PICO<del style="font-weight: bold; text-decoration: none;">, which means that the x coordinate is positive</del>. <del style="font-weight: bold; text-decoration: none;">If the y coordinate is exactly zero, </del>PICO will <del style="font-weight: bold; text-decoration: none;">rotate clockwise.</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">*The target point is at the far side of PICO, which means that the absolute value of the y coordinate of </del>the target point <del style="font-weight: bold; text-decoration: none;">is bigger than a given SAFE_ALLIGN value. -> PICO will start rotating until the absolute value </del>of <del style="font-weight: bold; text-decoration: none;">the y coordinate is smaller than the SAFE_ALLIGN value</del>. If the <del style="font-weight: bold; text-decoration: none;">y coordinate </del>is <del style="font-weight: bold; text-decoration: none;">negative, </del>PICO <del style="font-weight: bold; text-decoration: none;">will rotate clockwise. If the y coordinate is positive</del>, PICO will <del style="font-weight: bold; text-decoration: none;">rotate counter clockwise</del>.</div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">*The target point is at </del>the <del style="font-weight: bold; text-decoration: none;">front side of PICO</del>, <del style="font-weight: bold; text-decoration: none;">which means that the absolute value of the y coordinate of </del>the <del style="font-weight: bold; text-decoration: none;">target point is between the ALLIGN_VALUE and the SAFE_ALLIGN value. -> </del>PICO <del style="font-weight: bold; text-decoration: none;">will start Driving and Rotating so that it adjust its driving angle while driving in the direction of the target point. Because of the fact that the point </del>is <del style="font-weight: bold; text-decoration: none;">only a little at the side of PICO, only little adjustments have </del>to <del style="font-weight: bold; text-decoration: none;">be made which can be done while driving. The rotation direction is determined in the same way as if the point was at the far side of PICO.</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">*The </del>target <del style="font-weight: bold; text-decoration: none;">point is almost </del>in <del style="font-weight: bold; text-decoration: none;">front of PICO, which means that </del>the <del style="font-weight: bold; text-decoration: none;">absolute value of the y coordinate of the target point is smaller than </del>the <del style="font-weight: bold; text-decoration: none;">ALLIGN_VALUE. -> PICO will start its basic function </del>Drive to <del style="font-weight: bold; text-decoration: none;">drive forward to </del>the <del style="font-weight: bold; text-decoration: none;">target point. As only a small deviation in the range of ALLIGN_VALUE is considered, PICO can just drive forward </del>and <del style="font-weight: bold; text-decoration: none;">needs no allignment which will reduce its rotation movement due to noise. Because of </del>the <del style="font-weight: bold; text-decoration: none;">fact that the Drive and Rotate function is called if the absolute value of the y </del>coordinate <del style="font-weight: bold; text-decoration: none;">exceeds the ALLIGN_VALUE, only little adjustments will be made after a while if the target point was not exactly at front</del>.</div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">*</del>The <del style="font-weight: bold; text-decoration: none;">target point is close </del>to <del style="font-weight: bold; text-decoration: none;">PICO, which means that </del>the <del style="font-weight: bold; text-decoration: none;">absolute value of the x and y coordinate </del>of <del style="font-weight: bold; text-decoration: none;">the target point is smaller than the CLOSE_VALUE. -> </del>PICO <del style="font-weight: bold; text-decoration: none;">will stop moving using its basic function Stop as it has reached </del>the <del style="font-weight: bold; text-decoration: none;">target. A new </del>target point <del style="font-weight: bold; text-decoration: none;">or driving_state has to be defined to start moving again.</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">All these steps, except for the stopping when PICO is close to its target are illustrated in the figure below for the Drive to Point function with x the radial coordinate and y the polar coordinate.</del></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>As third category, the actual driving function which is called after the planning function in the auto_ext file is considered which is called driving. This function gets the target and the driving_state from the WorldModel as input to decide which of the underlying driving functions has to be called. <ins style="font-weight: bold; text-decoration: none;">If no </ins>driving <ins style="font-weight: bold; text-decoration: none;">state </ins>is given<ins style="font-weight: bold; text-decoration: none;">, PICO will stop.</ins></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">[[File:driver.jpg]]</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>As third category, the actual driving function which is called after the planning function in the auto_ext file is considered which is called driving. This function gets the target and the driving_state from the WorldModel as input to decide which of the underlying driving functions has to be called. <del style="font-weight: bold; text-decoration: none;">Below a list of the drive_states and which of the underlying functions is called by the </del>driving <del style="font-weight: bold; text-decoration: none;">function </del>is given</div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">*Drive_State=Drive -> Drive to Point</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">*Drive_State=Park -> Park</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">*Drive_State=Rotate -> Rotate</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">*Drive_State=Stop -> Stop</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">*Drive_State=unknown -> Stop</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=== Mapping ===</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=== Mapping ===</div></td></tr>
</table>S147706https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&diff=60754&oldid=prevS147706: /* The results */2018-06-20T15:54:30Z<p><span dir="auto"><span class="autocomment">The results</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 16:54, 20 June 2018</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l180">Line 180:</td>
<td colspan="2" class="diff-lineno">Line 180:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=== The results ===</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=== The results ===</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>[[File:simulator.gif|frame|left A simulation of the Escaperoom Challenge with our code]]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>[[File:simulator.gif|frame|left<ins style="font-weight: bold; text-decoration: none;">| </ins>A simulation of the Escaperoom Challenge with our code]]</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>[[File:challenge.gif|frame|right A video of our results of the Escaperoom Challenge]]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>[[File:challenge.gif|frame|right<ins style="font-weight: bold; text-decoration: none;">| </ins>A video of our results of the Escaperoom Challenge]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Our wall follower worked smootly in the simulator as can be seen in the video below and during the testing sessions. However, due to our restrictions on the FORWARD_SPEED and the ROTATE_SPEED, PICO moved slowly towards the finish, but eventually gets their as could be seen on the video showing the Escaperoom Challenge. However, as we where excited that PICO moved through the hallway as only one of the three groups that made it to that point, we stopped filming. Unfortantly, just before the finish, PICO detected the other wall of the corner while alligning to the wall and monitored is as a corner so started to follow the other wall back into the room. As we tested our code with just a little bit bigger hallway and in the simulator as shown in the gif, allignment errors due to the delayed respons of PICO did not occur while testing.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Our wall follower worked smootly in the simulator as can be seen in the video below and during the testing sessions. However, due to our restrictions on the FORWARD_SPEED and the ROTATE_SPEED, PICO moved slowly towards the finish, but eventually gets their as could be seen on the video showing the Escaperoom Challenge. However, as we where excited that PICO moved through the hallway as only one of the three groups that made it to that point, we stopped filming. Unfortantly, just before the finish, PICO detected the other wall of the corner while alligning to the wall and monitored is as a corner so started to follow the other wall back into the room. As we tested our code with just a little bit bigger hallway and in the simulator as shown in the gif, allignment errors due to the delayed respons of PICO did not occur while testing.</div></td></tr>
</table>S147706https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2018_Group_8&diff=60752&oldid=prevS147706: /* The results */2018-06-20T15:54:21Z<p><span dir="auto"><span class="autocomment">The results</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
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<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 16:54, 20 June 2018</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l180">Line 180:</td>
<td colspan="2" class="diff-lineno">Line 180:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=== The results ===</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=== The results ===</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>[[File:simulator.gif|frame| A simulation of the Escaperoom Challenge with our code]]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>[[File:simulator.gif|frame|<ins style="font-weight: bold; text-decoration: none;">left </ins>A simulation of the Escaperoom Challenge with our code]]</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>[[File:challenge.gif|frame| A video of our results of the Escaperoom Challenge]]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>[[File:challenge.gif|frame|<ins style="font-weight: bold; text-decoration: none;">right </ins>A video of our results of the Escaperoom Challenge]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Our wall follower worked smootly in the simulator as can be seen in the video below and during the testing sessions. However, due to our restrictions on the FORWARD_SPEED and the ROTATE_SPEED, PICO moved slowly towards the finish, but eventually gets their as could be seen on the video showing the Escaperoom Challenge. However, as we where excited that PICO moved through the hallway as only one of the three groups that made it to that point, we stopped filming. Unfortantly, just before the finish, PICO detected the other wall of the corner while alligning to the wall and monitored is as a corner so started to follow the other wall back into the room. As we tested our code with just a little bit bigger hallway and in the simulator as shown in the gif, allignment errors due to the delayed respons of PICO did not occur while testing.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Our wall follower worked smootly in the simulator as can be seen in the video below and during the testing sessions. However, due to our restrictions on the FORWARD_SPEED and the ROTATE_SPEED, PICO moved slowly towards the finish, but eventually gets their as could be seen on the video showing the Escaperoom Challenge. However, as we where excited that PICO moved through the hallway as only one of the three groups that made it to that point, we stopped filming. Unfortantly, just before the finish, PICO detected the other wall of the corner while alligning to the wall and monitored is as a corner so started to follow the other wall back into the room. As we tested our code with just a little bit bigger hallway and in the simulator as shown in the gif, allignment errors due to the delayed respons of PICO did not occur while testing.</div></td></tr>
</table>S147706