This file goal is to define the behavior of the robot during a combat.
- Motor measured speed left and right (
RPM) - Distance sensor left and right (
active/not active) - Euler angles defined orientation (
deg) - Orientation in quaternions (
quaternions) - Acceleration of the robot in 3D (
m / s^2) - Angular speed of the robot (
deg / s^2) - Tire traction available, left and right (
available/not available) - TODO
- Motor set point speed, left and right (
RPM) - TODO
- Initial state - the moment after the start signal was applied.
- General approach is to start going trough the terrain in a pattern, pattern is TODO
- Contact waiting state
- We need to detect contact event (TODO: how to distinguish contact).
- We need to control position changing using the pattern decided in the previous state (TODO: maybe PID control of path travelled by every tire).
- Contact detected state
- Once contact is detected we need to decide action (TODO).
- Different contacts must have different actions (TODO).
- Action tracking state
- Once the opponent position is known and the counter action is chosen we need to make sure the action is done properly.
- Here we need to watch out for disposition problems like lifting us up while trying to push the opponent on the front.
- OPTIONAL: Action failure state
- The action has failed in execution (TODO: definition of action failure).
- New action is to be chosen and passed to execution.