Autonomous Control

[mwtidd]

ADK architecture:


================= Robot
================== |
(Brains)ManeuverFactory - EventManager - Controller(Auton,Operator)
================== |
================ Mechanism

Everything above is extendable except the EventManager.

All basic teams would need to implement is:

ManeuverFactory - Robot - Mechanism

everything else should be able to work as a black box if they want it to.


I hope this helps...

[kamocat]

Okay, so I finally understand how the ADK works:
The "robot" consists of three components:

• Human Operator or the maneuver Planner (decides what maneuver should be performed)
• Event Handler (makes sure the maneuver factory changes maneuvers when it should)
• Maneuver Factory (performs the maneuvers)

The manuever types are all pre-coded, and can involve multiple mechanisms. (For example, you could have a maneuver type that says "go forward 2 feet, spin in a circle, and fire 3 balls") It's effectively a canned move, and as far as I'm aware, it is not dynamically configurable.
The maneuver factory can only perform one maneuver at a time (to prevent simultaniously sending two different values to a mechanism).
When the maneuver is changed, the mechanisms don't necessarily stop whatever they were doing and accept the new command. Some actions require completion before a new one can be issued. (for example, you don't want a kicker to try to extend when it's already extended; it must retract for two seconds to avoid penalty.)

How accurate is that?