A highlevel overview of how the robot works is shown below
- P: publish pygecko messages
- S: subscribe to pygecko messages
The publish and subscribe architecture is drawn from ROS (Robotic Operating System) where multiple/modular processess run a robot and they communicate via a publish/subscribe architecture. I don't use ROS because it is a pain to install on systems it is not designed for. I use PyGecko which implements some of the basic useful features of ROS.
A nonholonomic system in physics and mathematics is a system whose state depends on the path taken in order to achieve it. Ref Think about how a car (nonholonomic) must parallel park ... wouldn't it be easier if it could drive sideways! Basically, a car has a velocity constraint in its movement.
Since this robot can move in any direction and is not required to follow a specific path, it is a holonomic system and is a common design in robotic soccer.
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.