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| turtlebot:adventures:sensing101_hints [2015/10/06 18:30] – pvela | turtlebot:adventures:sensing101_hints [2024/08/20 21:38] (current) – external edit 127.0.0.1 |
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| ==== Gyro-Based Square Drawing ==== | ==== Gyro-Based Square Drawing ==== |
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| This one combines the above two and uses a finite state machine to alternate between them. The finite state machine should have four states it seems. One state is for forward driving and uses the ''gostraight'' feedback control algorithm above. Another is for pure turning and uses the ''turninplace'' feedback control algorithm. What about the other two? | This one combines the above two and uses a finite state machine to alternate between them. The finite state machine should have four states it seems. One state is for forward driving and uses the ''gostraight'' feedback control algorithm above modified to [[Turtlebot:Adventures:Sensing101_ForwardError|regulate the forward velocity]]. Another is for pure turning and uses the ''turninplace'' feedback control algorithm. What about the other two? |
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| Well, I think they should be to transition from forward driving state to the turning (and vice-versa). that means the system would really be state 1, prepare for straight driving and identify goal; state 2, perform straight driving to a specified goal; state 3, prepare for turning by identifying goal; state 4, perform turning to a specified orientation. When state 4 terminates, then it goes back to state 1. A combination of a while loop with a finite state machine (operating at a certain rate) and a series of odometry subscribers with different callbacks should be employed. | Well, I think they should be to transition from forward driving state to the turning (and vice-versa). that means the system would really be state 1, prepare for straight driving and identify goal; state 2, perform straight driving to a specified goal; state 3, prepare for turning by identifying goal; state 4, perform turning to a specified orientation. When state 4 terminates, then it goes back to state 1. A combination of a while loop with a finite state machine (operating at a certain rate) and a series of odometry subscribers with different callbacks should be employed. |
