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Very simple behavior for following the boundary of an obstacle in the world, with the robot's 'right hand' on the wall.
Classes | |
BoundaryFollowerSM4 State machine with instances of io.SensorInput as input
and io.Action as output.
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BoundaryFollowerSM2 State machine with instances of io.SensorInput as input
and io.Action as output.
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Variables | |
sideClearDist = 0.3
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clearDist = 0.25
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forwardSpeed = 0.25
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rotationalSpeed = 0.25
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stop = io.Action(0, 0)
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go = io.Action(forwardSpeed, 0)
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left = io.Action(0, rotationalSpeed)
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right = io.Action(sideClearDist* rotationalSpeed,-rotationalSp
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Variables Details |
right
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