runtimeterror
Moderator
I'm trying to understand the state transition chart: http://wiki.ardumower.de/images/f/ff/Ardumower_states.png
If I'm not mistaken, roll should have been named yaw or turn? This was also pretty confusing reading the code. If this is correct who could change that in the code and chart?
Another thing are all those timeouts. Are those really timeouts waiting for an event to happen within a certain time frame (which event?) or merely a pause/wait? Why do they exist at all?
What happens if the Robot is in PERI_TRACK and loses the connection to the perimeter? I don't see a transition to ERROR or PERI_FIND.
What happens if the robot hits an obstacle or leaves the perimeter while being in REVERSE or ROLL state?
Is leaving the perimeter equivalent to an Obstacle-transition?
Is there an updated chart showing the other states: MANUAL, ROLL_WAIT, PERI_OUT_FORW, PERI_OUT_REV, PERI_OUT_ROLL, TILT_STOP, BUMPER_REVERSE, BUMPER_FORWARD, STATE_CIRCLE
Thanks for your support.
If I'm not mistaken, roll should have been named yaw or turn? This was also pretty confusing reading the code. If this is correct who could change that in the code and chart?
Another thing are all those timeouts. Are those really timeouts waiting for an event to happen within a certain time frame (which event?) or merely a pause/wait? Why do they exist at all?
What happens if the Robot is in PERI_TRACK and loses the connection to the perimeter? I don't see a transition to ERROR or PERI_FIND.
What happens if the robot hits an obstacle or leaves the perimeter while being in REVERSE or ROLL state?
Is leaving the perimeter equivalent to an Obstacle-transition?
Is there an updated chart showing the other states: MANUAL, ROLL_WAIT, PERI_OUT_FORW, PERI_OUT_REV, PERI_OUT_ROLL, TILT_STOP, BUMPER_REVERSE, BUMPER_FORWARD, STATE_CIRCLE
Thanks for your support.