Embedded Motion Control 2014 Group 12: Difference between revisions
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Initially, six functions are to be written to perform specific tasks to complete the corridor challenge. | Initially, six functions are to be written to perform specific tasks to complete the corridor challenge. | ||
===Function: const_hard=== | |||
< | <p>Description: Stop Pico from running into a wall by readjusting if any point in the laser data is under a threshold. | ||
<br>Input: laser data | <br>Input: laser data | ||
<br>Output: cmd_vel | <br>Output: cmd_vel | ||
<br>Syntax:</p> | <br>Syntax:</p> | ||
===Function: readlaser=== | |||
< | <p>Description: Reduce the set of laser data to a managable set of variables by only taking the the data from the front, sides and back (from the frame of reference attached to Pico). | ||
<br>Input: laser data | <br>Input: laser data | ||
<br>Output: laserfront, laserright, laserback, laserleft | <br>Output: laserfront, laserright, laserback, laserleft | ||
<br>Syntax:</p> | <br>Syntax:</p> | ||
===Function: sit_eval=== | |||
< | <p>Description: Use the laser data to determine the situation the robot is currently in, corridor (1), T junction left (2) or T junction right (3). | ||
<br>Input: laserfront, laserright, laserback, laserleft | <br>Input: laserfront, laserright, laserback, laserleft | ||
<br>Output: sit_number | <br>Output: sit_number | ||
<br>Syntax:</p> | <br>Syntax:</p> | ||
===function: corridor=== | |||
< | <p>Description: sit_number = 1, attempts to stay in the middle of the corridor and continue straight on. | ||
<br>Input: laserright, laserleft | <br>Input: laserright, laserleft | ||
<br>Output: cmd_vel | <br>Output: cmd_vel | ||
<br>Syntax:</p> | <br>Syntax:</p> | ||
===Function: t_junction_left=== | |||
< | <p>Description: sit_number = 2, drives a set distance forward, turns left and again drives a set distance forward. | ||
<br>Input: | <br>Input: | ||
<br>Output: cmd_vel | <br>Output: cmd_vel | ||
<br>Syntax:</p> | <br>Syntax:</p> | ||
===Function: t_junction_right=== | |||
< | <p>Description: sit_number = 3, drives a set distance forward, turns right and again drives a set distance forward. | ||
<br>Input: | <br>Input: | ||
<br>Output: cmd_vel | <br>Output: cmd_vel | ||
<br>Syntax:</p> | <br>Syntax:</p> | ||
Revision as of 13:58, 9 May 2014
Members of group 12
| Anthom van Rijn | 0737682 |
| Jan Donkers | 0724801 |
| Jeroen Willems | 0755833 |
| Karel Drenth | 0863408 |
Testing
09-05 \t Initial testing to familiarize with the operation of Pico.
Software architecture corridor challenge
Initially, six functions are to be written to perform specific tasks to complete the corridor challenge.
Function: const_hard
Description: Stop Pico from running into a wall by readjusting if any point in the laser data is under a threshold.
Input: laser data
Output: cmd_vel
Syntax:
Function: readlaser
Description: Reduce the set of laser data to a managable set of variables by only taking the the data from the front, sides and back (from the frame of reference attached to Pico).
Input: laser data
Output: laserfront, laserright, laserback, laserleft
Syntax:
Function: sit_eval
Description: Use the laser data to determine the situation the robot is currently in, corridor (1), T junction left (2) or T junction right (3).
Input: laserfront, laserright, laserback, laserleft
Output: sit_number
Syntax:
function: corridor
Description: sit_number = 1, attempts to stay in the middle of the corridor and continue straight on.
Input: laserright, laserleft
Output: cmd_vel
Syntax:
Function: t_junction_left
Description: sit_number = 2, drives a set distance forward, turns left and again drives a set distance forward.
Input:
Output: cmd_vel
Syntax:
Function: t_junction_right
Description: sit_number = 3, drives a set distance forward, turns right and again drives a set distance forward.
Input:
Output: cmd_vel
Syntax: