If I understand correctly, the proposed model would work on a polled basis. Is this correct ?roger wrote:In my proposed model, one navigator controls the one pilot that, in turn, controls the motors. Both commands and requests for information flow from the top down.
To be consistent with this idea, there should be only one higher level object that controls the Navigator, and it can request the Navigator for information at any time. So the Navigator need not have any listeners.
But to implement this design, the Navigator and Pilot both need a separate thread to detect the moving/ stoped state of the mover.
Glad you like my suggestionroger wrote:I like your solution of adding the travel() and rotate)_ methods to the Navigator in so it can update the pose after each move. It preserves the delegation chain, and allows a programmer to use a Navigator without knowing anything about the Pilot.
It uses the 3rd motor for the gripper. The bot is strongly inspired by the Gripp3r one, having replaced the tracks by wheels (tracks introduce a severe imprecision in moves, because of the backslash at track-powered wheel joint level). It has the colour sensor in the chassis to analyse the captured object. I'll try to put a picture online... as soon as I'll have taken some.roger wrote:You use the third motor for the gripper? I would like to see a picture of your bot if it is online.
+1gloomyandy wrote: Having said that the blocking operations are often based on polling so there is not that big a difference!
I can't agree moregloomyandy wrote: I wonder how many (even experienced) Java programmers have ever had to write one?
The removal of the getTachoCount synchronization suggested by Andy seems to have removed the lock, as far as I have experimented until now.lawrie wrote:Do you have a set of changes that fix the current Navigator problem that I can apply? I was not clear from the thread whether just removing synchronization from getTachoCount solved it.
They seem too, although I'm not sure my hack could be considered as a valid solution.lawrie wrote:Are you saying that both your solution and Andy's appeared to work?
Yes.lawrie wrote:Which version of getTachoCount is it? Is it the one in the EV3MotorRegulatorKernelModule in EV3MotorPort.java?
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