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MRC/Tutorials/Towards an autonomous robot - Revision history
2024-03-19T03:07:03Z
Revision history for this page on the wiki
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Jsenden: moved Embedded Motion Control/Tutorials/Towards an autonomous robot to MRC/Tutorials/Towards an autonomous robot
2020-03-27T10:11:34Z
<p>moved <a href="/wiki/Embedded_Motion_Control/Tutorials/Towards_an_autonomous_robot" class="mw-redirect" title="Embedded Motion Control/Tutorials/Towards an autonomous robot">Embedded Motion Control/Tutorials/Towards an autonomous robot</a> to <a href="/wiki/MRC/Tutorials/Towards_an_autonomous_robot" title="MRC/Tutorials/Towards an autonomous robot">MRC/Tutorials/Towards an autonomous robot</a></p>
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<td colspan="1" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="1" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:11, 27 March 2020</td>
</tr><tr><td colspan="2" class="diff-notice" lang="en"><div class="mw-diff-empty">(No difference)</div>
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Jsenden
https://cstwiki.wtb.tue.nl/index.php?title=MRC/Tutorials/Towards_an_autonomous_robot&diff=55537&oldid=prev
S112721: /* Making PICO aware */
2018-05-03T14:18:34Z
<p><span dir="auto"><span class="autocomment">Making PICO aware</span></span></p>
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<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 15:18, 3 May 2018</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l134">Line 134:</td>
<td colspan="2" class="diff-lineno">Line 134:</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>So, the robot moves, but it's still pretty stupid. The simulator doesn't have collision detection, so once the robot is near a wall it just goes through it. We don't want ''that'' to happen to the real robot, because it will crash! Let's see if we can do something smart. Maybe using the laser?</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>So, the robot moves, but it's still pretty stupid. The simulator doesn't have collision detection, so once the robot is near a wall it just goes through it. We don't want ''that'' to happen to the real robot, because it will crash! Let's see if we can do something smart. Maybe using the laser?</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 ''io'' object can not only be used to send commands, but also to read data from the sensors (more detailed information about the different sensor data, i.e., the laser data, odometry data, and the control effort data, is given in the next tutorial step). Here, we will treat a <del style="font-weight: bold; text-decoration: none;">simple </del>reading of the laser data, which can be done as follows:</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 ''io'' object can not only be used to send commands, but also to read data from the sensors (more detailed information about the different sensor data, i.e., the laser data, odometry data, and the control effort data, is given in the next tutorial step). Here, we will treat a reading of the laser data, which can be done as follows:</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><pre></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><pre></div></td></tr>
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S112721
https://cstwiki.wtb.tue.nl/index.php?title=MRC/Tutorials/Towards_an_autonomous_robot&diff=55536&oldid=prev
S112721: /* Making PICO aware */
2018-05-03T14:18:10Z
<p><span dir="auto"><span class="autocomment">Making PICO aware</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<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 15:18, 3 May 2018</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l134">Line 134:</td>
<td colspan="2" class="diff-lineno">Line 134:</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>So, the robot moves, but it's still pretty stupid. The simulator doesn't have collision detection, so once the robot is near a wall it just goes through it. We don't want ''that'' to happen to the real robot, because it will crash! Let's see if we can do something smart. Maybe using the laser?</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>So, the robot moves, but it's still pretty stupid. The simulator doesn't have collision detection, so once the robot is near a wall it just goes through it. We don't want ''that'' to happen to the real robot, because it will crash! Let's see if we can do something smart. Maybe using the laser?</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 ''io'' object can not only be used to send commands, but also to read data from the sensors (more detailed information about the different sensor data, i.e., the laser data, odometry data, and the control effort data, is given in the next tutorial step). Here, we will treat <del style="font-weight: bold; text-decoration: none;">the </del>reading of laser data, which can be done as follows:</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 ''io'' object can not only be used to send commands, but also to read data from the sensors (more detailed information about the different sensor data, i.e., the laser data, odometry data, and the control effort data, is given in the next tutorial step). Here, we will treat <ins style="font-weight: bold; text-decoration: none;">a simple </ins>reading of <ins style="font-weight: bold; text-decoration: none;">the </ins>laser data, which can be done as follows:</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><pre></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><pre></div></td></tr>
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S112721
https://cstwiki.wtb.tue.nl/index.php?title=MRC/Tutorials/Towards_an_autonomous_robot&diff=55535&oldid=prev
S112721: /* Making PICO aware */
2018-05-03T14:16:54Z
<p><span dir="auto"><span class="autocomment">Making PICO aware</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<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 15:16, 3 May 2018</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l134">Line 134:</td>
<td colspan="2" class="diff-lineno">Line 134:</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>So, the robot moves, but it's still pretty stupid. The simulator doesn't have collision detection, so once the robot is near a wall it just goes through it. We don't want ''that'' to happen to the real robot, because it will crash! Let's see if we can do something smart. Maybe using the laser?</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>So, the robot moves, but it's still pretty stupid. The simulator doesn't have collision detection, so once the robot is near a wall it just goes through it. We don't want ''that'' to happen to the real robot, because it will crash! Let's see if we can do something smart. Maybe using the laser?</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 ''io'' object can not only be used to send commands, but also to read data from the sensors. <del style="font-weight: bold; text-decoration: none;">Currently</del>, <del style="font-weight: bold; text-decoration: none;">it can only read </del>the laser data, <del style="font-weight: bold; text-decoration: none;">but </del>odometry data will be <del style="font-weight: bold; text-decoration: none;">added soon. It looks like this</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>The ''io'' object can not only be used to send commands, but also to read data from the sensors <ins style="font-weight: bold; text-decoration: none;">(more detailed information about the different sensor data, i.e</ins>., the laser data, odometry data<ins style="font-weight: bold; text-decoration: none;">, and the control effort data, is given in the next tutorial step). Here, we </ins>will <ins style="font-weight: bold; text-decoration: none;">treat the reading of laser data, which can </ins>be <ins style="font-weight: bold; text-decoration: none;">done as follows</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><pre></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><pre></div></td></tr>
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S112721
https://cstwiki.wtb.tue.nl/index.php?title=MRC/Tutorials/Towards_an_autonomous_robot&diff=27118&oldid=prev
S137471: /* Making PICO aware */
2016-05-10T10:57:57Z
<p><span dir="auto"><span class="autocomment">Making PICO aware</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:57, 10 May 2016</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></pre></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></pre></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>Alright!! Now you have all the ingredients to create an application that drives PICO forward, but stops if an obstacle is near!! We can create a main loop at a fixed frequency, send base commands, read the laser data and do something sensible with it. Just now that you can stop the base by simply calling ''<del style="font-weight: bold; text-decoration: none;">sendBaseVelocity</del>(0, 0, 0)''. We leave the full creation of this application as an exercise for you!</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>Alright!! Now you have all the ingredients to create an application that drives PICO forward, but stops if an obstacle is near!! We can create a main loop at a fixed frequency, send base commands, read the laser data and do something sensible with it. Just now that you can stop the base by simply calling ''<ins style="font-weight: bold; text-decoration: none;">sendBaseReference</ins>(0, 0, 0)''. We leave the full creation of this application as an exercise for you!</div></td></tr>
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S137471
https://cstwiki.wtb.tue.nl/index.php?title=MRC/Tutorials/Towards_an_autonomous_robot&diff=17999&oldid=prev
S142634 at 17:01, 30 April 2015
2015-04-30T17:01:44Z
<p></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 18:01, 30 April 2015</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>...</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>...</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>std::cout << scan.<del style="font-weight: bold; text-decoration: none;">min_angle </del><< std::endl;</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>std::cout << scan.<ins style="font-weight: bold; text-decoration: none;">angle_min </ins><< std::endl;</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>...</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>...</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></pre></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></pre></div></td></tr>
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S142634
https://cstwiki.wtb.tue.nl/index.php?title=MRC/Tutorials/Towards_an_autonomous_robot&diff=17998&oldid=prev
S142634 at 15:38, 30 April 2015
2015-04-30T15:38:42Z
<p></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 16:38, 30 April 2015</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>= The loop =</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 loop =</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>When we want to control and <del style="font-weight: bold; text-decoration: none;">monitoring </del>a piece of hardware, we often want to perform a series of steps, computations, procedures, etc., in a repetitive manner. When we talk about doing something repeatedly in software, the first 'control flow statement' that comes to mind is a loop. Remember the ''while'' and ''for'' loops from the C++ tutorials? Right, that's the kind of stuff we're talking about. So, lets' create a loop!</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>When we want to control and <ins style="font-weight: bold; text-decoration: none;">monitor </ins>a piece of hardware, we often want to perform a series of steps, computations, procedures, etc., in a repetitive manner. When we talk about doing something repeatedly in software, the first 'control flow statement' that comes to mind is a loop. Remember the ''while'' and ''for'' loops from the C++ tutorials? Right, that's the kind of stuff we're talking about. So, lets' create a loop!</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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S142634
https://cstwiki.wtb.tue.nl/index.php?title=MRC/Tutorials/Towards_an_autonomous_robot&diff=17973&oldid=prev
SDries: /* Control the robot! */
2015-04-29T14:22:11Z
<p><span dir="auto"><span class="autocomment">Control the robot!</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 15:22, 29 April 2015</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;"><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;">Note </del>a few things: The IO connection is created by just constructing an emc::IO object, it's that easy! We will loop as long as the connection is OK. Then, we can send a command to the base by sampling calling a function ''on'' the ''io'' object. We do this at a fixed frequency of 10 Hz.</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;">First, try to understand what is going on. You should already be able to derive what will happen if this program is executed.</ins></div></td></tr>
<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> </div></td></tr>
<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;">Now, note </ins>a few things: The IO connection is created by just constructing an emc::IO object, it's that easy! We will loop as long as the connection is OK. Then, we can send a command to the base by sampling calling a function ''on'' the ''io'' object. We do this at a fixed frequency of 10 Hz.</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>Now, fire up the simulator, and run the example. And what do you see? Voila, we move the robot using our application! Try modifying the ''sendBaseReference'' arguments, and see how they affect the robot behavior.</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>Now, fire up the simulator, and run the example. And what do you see? Voila, we move the robot using our application! Try modifying the ''sendBaseReference'' arguments, and see how they affect the robot behavior.</div></td></tr>
</table>
SDries
https://cstwiki.wtb.tue.nl/index.php?title=MRC/Tutorials/Towards_an_autonomous_robot&diff=17971&oldid=prev
SDries: /* Introduction */
2015-04-29T14:18:00Z
<p><span dir="auto"><span class="autocomment">Introduction</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 15:18, 29 April 2015</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>= Introduction =</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>= Introduction =</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>'''Note: before you start, run ''emc-update''. Some needed software might be added in the meantime'''</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>'''Note: before you start, run ''emc-update''. Some needed software <ins style="font-weight: bold; text-decoration: none;">pieces </ins>might be added in the meantime'''<ins style="font-weight: bold; text-decoration: none;">.</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>So far, we have seen how to create a simple C++ project, run the simulator, show some visualizations and drive the simulated robot around using the keyboard. That's nice and all, but we don't want to manually drive around a virtual robot. We want an autonomous, real robot!</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>So far, we have seen how to create a simple C++ project, run the simulator, show some visualizations and drive the simulated robot around using the keyboard. That's nice and all, but we don't want to manually drive around a virtual robot. We want an autonomous, real robot!</div></td></tr>
</table>
SDries
https://cstwiki.wtb.tue.nl/index.php?title=MRC/Tutorials/Towards_an_autonomous_robot&diff=17970&oldid=prev
SDries at 14:17, 29 April 2015
2015-04-29T14:17:45Z
<p></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 15:17, 29 April 2015</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l1">Line 1:</td>
<td colspan="2" class="diff-lineno">Line 1:</td></tr>
<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;">= Introduction =</ins></div></td></tr>
<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;"></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;"><div>'''Note: before you start, run ''emc-update''. Some needed software might be added in the meantime'''</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>'''Note: before you start, run ''emc-update''. Some needed software might be added in the meantime'''</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;"></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;">= Introduction =</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>So far, we have seen how to create a simple C++ project, run the simulator, show some visualizations and drive the simulated robot around using the keyboard. That's nice and all, but we don't want to manually drive around a virtual robot. We want an autonomous, real robot!</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>So far, we have seen how to create a simple C++ project, run the simulator, show some visualizations and drive the simulated robot around using the keyboard. That's nice and all, but we don't want to manually drive around a virtual robot. We want an autonomous, real robot!</div></td></tr>
</table>
SDries