Ardumower software design: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
(→Finite state machine) |
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Main component of the software is a so called 'finite state machine', that means there exists a set of states ("OFF", "FORWARD", "ROLL", etc.) that the robot can be in. Depending on events (sensor is triggering etc.), the robot will enter a new state. | Main component of the software is a so called 'finite state machine', that means there exists a set of states ("OFF", "FORWARD", "ROLL", etc.) that the robot can be in. Depending on events (sensor is triggering etc.), the robot will enter a new state. | ||
| − | State diagram | + | State diagram (Note: The drawing has been created using [https://drive.draw.io/?url=https%3A%2F%2Fraw.githubusercontent.com%2FArdumower%2Fardumower%2Fmaster%2Fswdesign%2FArdumower_Statemachine.xml draw.io]) |
<gallery> | <gallery> | ||
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*If obstacle during reverse => roll | *If obstacle during reverse => roll | ||
*If obstacle during roll => forward | *If obstacle during roll => forward | ||
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=C++ classes/interfaces= | =C++ classes/interfaces= | ||
Version vom 1. Juli 2015, 10:29 Uhr
This page describes some internals of the Ardumower software architecture.
Finite state machine
Main component of the software is a so called 'finite state machine', that means there exists a set of states ("OFF", "FORWARD", "ROLL", etc.) that the robot can be in. Depending on events (sensor is triggering etc.), the robot will enter a new state.
State diagram (Note: The drawing has been created using draw.io)
Implemented updates:
- If obstacle during reverse => roll
- If obstacle during roll => forward
C++ classes/interfaces
