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| Both sides previous revision Previous revision Next revision | Previous revision | ||
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cs:ai:start [2018/02/24 13:59] Mike Bykhovtsev Tweak |
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 ===== | ||
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| * 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> | ||
