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Action Pilot
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Action Pilot
How does it work?
Two kind of moves
Combining moves
Describe the robot to the model builder
How?
- Number of wheels
- Size of the wheels
- The gear train
- Position of the wheels
- Orientation of the wheels
- The encoders
Linear moves can be combined with angular moves.
A holonomic robot can spin while driving in a straight line
Linear move
(x,y)
Angular move
(a)
Two ways to describe the robot
Holonomic move
X
Y
A
Using polar coordinates
Using Cartesian coordinates
A combined move is called an action
The model builder generates kinematic models
Kinematics
Kinematics are used to calculate motor speed from robot speed and back
Pose
The Kinematic model
The inverse kinematic model
The kinematic model translates robot speed into wheel speed.
The kinematic model is represented in a matrix.
The inverse kinematic model translates changes in motor position into changes in robot position.
The inverse kinematic model is represented as a matrix
Odometry
Use the motor encoders to calculate displacement
A pose is the robots position ad orientation in a space.
- Position is the location (x, y) of the robot in respect to the origin
- Orientation is the angle (a) of the robot in respect to the reference frame
Move classes
The odometer class maintains a Pose
Functions
- Combine moves to actions
- Stack actions in action queue
- Execute actions
- Mixes actions when in blend mode
it runs in its own thread and queries the motor encoders at a regular interval to
calculate displacement and to update pose
Blend actions
Get moves from governing class
Stack actions in action queue
Execute action
actionPilot.addAction ( line , rotate )
Mix a finishing action into the next action to get smooth movement of the robot
while ( action.isbusy() ) {
speed = action.getSpeed(time)
chassis.setSpeed(speed)
}
{
( line , rotate ),
(arc ),
( line, aim ),
( goto )
}
weight = getWeight( time )
currentSpeed = weight * currentAction.getSpeed( time )
nextSpeed = (1 - weight) * nextAction.getSpeed( time )
speed = currentSpeed + nextSpeed
Define speed at a given moment
Only when blendMode is enabled
Distance to target
Geometrical primitives
Move based on geometric function.
Line, Arc, Rotation, Sinus, etc.
Move is based on reaching a goal.
GoTo, Follow, TurnTo, etc.
These moves are non adaptive
- Time span of the move is known a beforehand
- Speed at any moment during the move is know beforehand
Adaptive
- It is not know how long the move takes to finish
- Speed changes as the position of the robot or the goal changes
Action Pilot
Executes actions