SOFTWARE
The complete framework used to program Obi4Kenobi is linked here:
obi4kenobi.zip | |
File Size: | 196 kb |
File Type: | zip |
Below are the hierarchical state diagrams for the core functions of the robot, as well as additional scripts. The header and cpp files for each module is listed. Files with the .pdf extension contain pseudocode.
State Machines
The following state machines implemented our strategy at a higher level. Reloading, Defending and Shooting SM handled one gameplay requirement each, while Wire SM would find and follow the current-carrying wire on the field for reliable navigation. Finally, Master SM dealt at the top level with the current game state.
Master SM
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Reloading SM
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Shooting SM
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Defending SM
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Wire SM
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Other Relevant Core Modules
These modules interfaced with the REF (through SPI communication), motors and encoders. Code for the other sensors is also provided, including the limit switch, IR receivers, emitters and beam break.
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