Quote:
Originally Posted by ekapalka
This looks awesome! Could you explain your "command driven autonomous"? I think I've got the gist of it, but I would love to hear an explanation of how it works  |
We push commands on to an STL deque and read them one at a time with a special handler for each type of command. For example, the drive command uses PID to drive to a specific distance in a straight line using an encoder and a gyro. Commands also have timeouts, so that if something goes wrong and the robot never reaches its setpoints, it will automatically move on to the next command.