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feature/19-builder-fsm #19

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jharwell opened this issue Apr 3, 2020 · 0 comments
Closed

feature/19-builder-fsm #19

jharwell opened this issue Apr 3, 2020 · 0 comments
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Status: Completed Type: Feature

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@jharwell
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jharwell commented Apr 3, 2020 •
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Needed for #15.

Once the robot enters the nest (construction area) this FSM would take
over. Assuming that the robot is aligned with the ingress lane for its chosen
construction lane, it would be responsible for:

  • Driving the robot up the ramp until it reaches the top or the end of the ramp
    is reached.

  • Once the end of the lane/ramp comes in sight, performing the block placement
    FSM in such a way as to guarantee no deadlocks between robots, waiting for
    robots ahead of them as necessary.

  • Driving the robot down the structure/ramp and out of the construction zone.
@jharwell jharwell changed the title feature/19-construction-lane-fsm feature/19-builder-fsm Apr 3, 2020
@jharwell jharwell mentioned this issue Apr 3, 2020
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jharwell added a commit that referenced this issue May 4, 2020
@jharwell
feature(#19): Builder FSM
bb9dd2d 
- Added builder LOS, stub perception subsystem

- Builder FSM currently relies on the ability of the colored blob camera sensor
  to detect robot LEDs with Z > 0, which is something I struggled to get it to
  do in the past. It *is* possible, as I know there have been ARGoS papers using
  eyebot LEDs that this has worked for.

- Initial implementation uses the colored blob omnidirectional camera, which
  will NOT work with robots with Z > 0. I don't know how to detect LEDs on
  objects with Z > 0, so am waiting to hear back from Carlo about it.

+semver: feature
@jharwell jharwell closed this as completed May 4, 2020
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@jharwell