Drivebase.rule - Revision history

Jca: /* driveInit */

2009-11-06T08:50:15Z

driveInit

← Older revision		Revision as of 10:50, 6 November 2009
Line 28:		Line 28:
	=====driveInit=====		=====driveInit=====

	Defines the global variable with default values:		Defines the global variable with default values, e.g:

	~~global.drive.mapDest[2] = 0.0 # destination in map coordinates~~
	~~global.drive.utmDest[2] = 0.0 # destination in UTM coordinates~~
	~~global.drive.odoDest[2] = 0.0 # destination in ODO coordinates~~
	~~global.drive.lastMapDest[2] = 0.0 # last destination in map coordinates~~
	~~global.drive.lastUtmDest[2] = 0.0 # last destination in UTM coordinates~~
	~~global.drive.lastOdoDest[2] = 0.0 # last destination in ODO coordinates~~
	~~global.drive.refCoord = -1 # 0=odo, 1=UTM, 2=map~~
	~~global.drive.newDest = 0~~
	global.drive.pause = false		global.drive.pause = false
	global.drive.waitHere = true # waits in a state with low RPM		global.drive.waitHere = true # waits in a state with low RPM
	~~global.drive.gettingClose = false~~
	global.drive.skipDestination = false		global.drive.skipDestination = false
	~~global.drive.compasHeading = false # heading in compas degrees if true (else math)~~
	~~global.drive.radians = true # heading in radians if true, else in degrees (math heading only)~~
	global.drive.continueDist = 1 # continues when closer than this from next node		global.drive.continueDist = 1 # continues when closer than this from next node
	global.drive.holdLine = true # try hold line from last waypoint, else go direct		global.drive.holdLine = true # try hold line from last waypoint, else go direct
Line 51:		Line 40:
	odoPose.tripTimeB= 0		odoPose.tripTimeB= 0
	odoPose.tripB= 0		odoPose.tripB= 0
	~~global.drive.distToTgt = 0~~
	global.drive.~~fromPose[2] = 0.0 # last used source pose~~		The mentioned 'global.drive.XXX' variables can be set by the mission as appropriate,

	(more to come)		(more to come)

Jca: /* Rules */

2009-11-06T08:46:56Z

Rules

← Older revision		Revision as of 10:46, 6 November 2009
Line 25:		Line 25:

	The (sub) rules implementing this behavior is as follows:		The (sub) rules implementing this behavior is as follows:

			=====driveInit=====

			Defines the global variable with default values:

			global.drive.mapDest[2] = 0.0 # destination in map coordinates
			global.drive.utmDest[2] = 0.0 # destination in UTM coordinates
			global.drive.odoDest[2] = 0.0 # destination in ODO coordinates
			global.drive.lastMapDest[2] = 0.0 # last destination in map coordinates
			global.drive.lastUtmDest[2] = 0.0 # last destination in UTM coordinates
			global.drive.lastOdoDest[2] = 0.0 # last destination in ODO coordinates
			global.drive.refCoord = -1 # 0=odo, 1=UTM, 2=map
			global.drive.newDest = 0
			global.drive.pause = false
			global.drive.waitHere = true # waits in a state with low RPM
			global.drive.gettingClose = false
			global.drive.skipDestination = false
			global.drive.compasHeading = false # heading in compas degrees if true (else math)
			global.drive.radians = true # heading in radians if true, else in degrees (math heading only)
			global.drive.continueDist = 1 # continues when closer than this from next node
			global.drive.holdLine = true # try hold line from last waypoint, else go direct
			global.drive.engineRPM= 1900;
			global.mission.name= 'none'
			global.mission.leg= 0
			odoPose.tripTimeB= 0
			odoPose.tripB= 0
			global.drive.distToTgt = 0
			global.drive.fromPose[2] = 0.0 # last used source pose

			(more to come)

Jca: New page: ===Introduction=== The drivebase rule implements a number of rules to allow a HAKO like implementation of mobotware to execute missions. The mission itself should be formed as a rule descr...

2009-11-06T08:37:27Z

New page: ===Introduction=== The drivebase rule implements a number of rules to allow a HAKO like implementation of mobotware to execute missions. The mission itself should be formed as a rule descr...

New page

===Introduction===
The drivebase rule implements a number of rules to allow a HAKO like implementation of mobotware to execute missions.
The mission itself should be formed as a rule describing the mission waypoints, and may be supplemented by additional rules defining special behaviour - like speed or tool action - in e.g. geographic areas.

This description reflects the drivebase version 2.777 (6 nov 2009)

===Drivebase===
The drivebase is placed in the distribution at:

.../bin/conf_hako2/drivebase.rule

or it can be seen (in the 2.777 version) [[here]]

====Description====

The basic principle is that the mission describes the next waypoint as a target pose - in one of the allowed coordinate systems. The allowed coordinate systems are odometry, UTM (zone 33), map coordinates (that relates to the UTM coordinates with an origin in UTM coordinates).

The drivebase then converts (if needed) to odometry coordinates and requests a manoeuvre to get the robot to the requested pose. This may involve obstacle avoidance - if allowed.

The process can be paused by setting a pause flag, and a waypoint can be skipped by setting another flag.

If the waypoint is far away (typically more than 10-15m) then a carrot point is inserted about 10m from current position, but on the line described by the desired waypoint pose.

====Rules====

The (sub) rules implementing this behavior is as follows: