bbagnall wrote:Do you have working code to demonstrate your API integrating readings from different sensors to come up with pose data?
bbagnall wrote:On another note, we were previously talking about replacing the current OmniPilot with yours, which I believe allowed for different angles of wheels. And perhaps 4 wheels too, though I'm not sure about that. Now would be a good time to do the replacement at the beginning of the EV3 cycle.
Aswin wrote:The problem is that this pilot cannot be integrated in the navigation framework. The major issue is that it cannot be a MoveProvider. This pilot combines simple moves to make more complex maneuvres. The end result cannot be described as arcs, rotates, travels or stops. For example, the pilot allows the robot to rotate while travelling or making an arc.
As this pilot cannot be a MoveProvider it can also not be a MoveController although it can make all the movements that the <Arc><Rotate>MoveControllers can make. It therefor can also not be used with a OdometryPoseProvider.
Aswin wrote:Could the MoveProvider interface be separated from the MoveController interface? Because then I think the pilot can be integrated in the navigation framework.
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