2007-11-04 Calgary K-9 Robot Part 3
This is the second version of the Doctor Who Atonomous K-9 I've been making . This version has a body and a digital display . The display is mostly for debugging. Allowing me to see what he sees, in realtime. Lets me adjust the values of the programming to prevent from getting stuck and stuff.
So far he's a little over 1,000 lines of C code. I developed the framework myself. Which includes Modes, Movements and Scans.
Modes use movements and scans.
There is also a menu interface with 2 buttons (Select / Change) that lets me scroll through debug modes.
Current modes are as follows....
- Atonomous
- Look around
- Sleep
- Nod at nearest object
- Bark
- Go to furthest object
- Go to closest object
- Go to movement
An array is kept while he scans X and Y . then plenty of algorythms determine his decisions and how to interpret the changes in data. His physical motion is taken into consideration when comparing current data against historical data.
So far he's pretty atonomous. He can see objects on the floor in his path, including ledges and walls . Plus table legs and other obsticles.
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