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| Both sides previous revision Previous revision Next revision | Previous revision | ||
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cs:ai:start [2018/02/24 13:53] Mike Bykhovtsev Deleted stale, and added description of our AI. Added hyperlink to SMACH. |
cs:ai:start [2022/09/22 18:57] (current) Justin Pilgrim [AI] |
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| ====== AI ====== | ====== AI ====== | ||
| Main function of AI on the sub is to make decisions of what the sub should do based on given data from topics like sensors, vision, data, etc. It is using hierarchical state machine, which allows it to cover majority of cases it will face. | Main function of AI on the sub is to make decisions of what the sub should do based on given data from topics like sensors, vision, data, etc. It is using hierarchical state machine, which allows it to cover majority of cases it will face. | ||
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| ===== Overview ===== | ===== Overview ===== | ||
| Line 36: | Line 37: | ||
| * If your state is using control wrapper to move, right before final outcome make sure to set changed yaw/roll/pitch/forward to 0. | * If your state is using control wrapper to move, right before final outcome make sure to set changed yaw/roll/pitch/forward to 0. | ||
| * Control wrapper forward and strafe do not use relative same way as yaw and pitch, use instead **strafeLeftError()** and **forwardError()** | * Control wrapper forward and strafe do not use relative same way as yaw and pitch, use instead **strafeLeftError()** and **forwardError()** | ||
| - | * Some current AI files use parameters from roscore server for different configuration of values. They will crash if they do not load parameters. To load parameters run | + | * Some current AI files use parameters from roscore server for different configuration of values. They will crash if they do not load parameters. Parameters are located in <wrap em>/ros/robosub/param/</wrap> or some may be located in individual utility folders. To load parameters run |
| <code bash> | <code bash> | ||
| rosparam load [param_file_name].yaml | rosparam load [param_file_name].yaml | ||
| Line 42: | Line 43: | ||
| * Every time you restart roscore you need to reload parameters | * Every time you restart roscore you need to reload parameters | ||
| * Our vision detection requires undistortion to be running. | * Our vision detection requires undistortion to be running. | ||
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| + | |||
| + | ===== Example Flow Chart ===== | ||
| + | <flow> | ||
| + | graph LR; | ||
| + | A(SM_ROOT)-->|execute|B[START_SWITCH]; | ||
| + | subgraph RoboSub | ||
| + | B-->C[GATE_TASK]; | ||
| + | C-->D[PATH_MARKER_TASK1]; | ||
| + | D-->E[DICE_TASK]; | ||
| + | E-->F[PATH_MARKER_TASK2]; | ||
| + | F-->G[GOTO_PINGER]; | ||
| + | G-->H{Where am I?}; | ||
| + | H-->|Roulette|I[ROULETTE_TASK]; | ||
| + | H-->|Square|J[SQUARE_TASK]; | ||
| + | end | ||
| + | I-->EN((end)) | ||
| + | J-->EN((end)) | ||
| + | click B "start_switch" | ||
| + | click C "gate_task" | ||
| + | click D "path_marker_task" | ||
| + | click E "dice_task" | ||
| + | click F "path_marker_task" | ||
| + | click G "goto_pinger" | ||
| + | click I "roulette_task" | ||
| + | click J "square_task" | ||
| + | style A fill:#f9f,stroke:#333,stroke-width:2px; | ||
| + | style EN fill:#f9f,stroke:#333,stroke-width:2px; | ||
| + | </flow> | ||
