Ardumower software design: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
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| + | (Courtesy of Jacques found in the Forum) | ||
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=Further links= | =Further links= | ||
Version vom 22. November 2015, 22:02 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
Revision : ardumower-1.0a4-Azurit
(Courtesy of Jacques found in the Forum)
