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Applied Robotics Club : GMUGrandChallenge - Pseudo-code browse

Classes (Sensors/Motors)

  • GPS
    • position (latitude, longitude, altitude)
    • signal quality (waas, differential, none)
  • Odometers
    • position (x,y)
    • orientation
  • Compass
    • orientation
  • Joystick
    • knob directions and magnitudes
    • button states
  • Battery
    • charge
  • Sonars
    • range (meters)
  • Camera
    • orientation (vanishing point detection, localization)
    • relative position (localization)
  • Motors
    • forward speed (meters/sec)
    • turn rate (radians/sec)

Classes (Functions)

  • Obstacle Avoidance
    • Sonar
    • Odometers
  • Navigation
    • GPS
    • Compass
    • Odometers
  • Path Planning
    • Navigation
  • User Interface
    • Joystick
    • Battery
  • Motion Control
    • Motors

Class Motion

{

   public:
        int Move(int distance, int speed)
        int Turn(float radius, int velocity, int angular_acceleration)
   private:
        int velocity = 0; 
        int acceleration = 0; 
        int x=0;
        int y=0;
        float radius=0;
        int angular_acceleration=0;

}

int Motion::Move( ) {

}

Class Position

{

    public:
       float[] GetWaypoint();
       float[] GetHeading();
       float[] getRange();
       float[] getPosition();

    private:
       float latitude;
       float longitude;
       float degrees;
       float time_of_flight;
       float x;
       float y;

}

Class RobotMap

{

 Private:
   LinkedList WayPoints
   CreateGraph()

 Public:
   RobotMap()
   RobotMap(String FileLocation)
   PlanPath(WayPoint *Start, WayPoint *End)
   RecalculatePath()
   WayPoint *GetNextWayPoint()

}

Class Camera

{

 Public:
   Camera(options)
   GetOrientation()

 Private:
   Image GetNewImage()
   CompareToDatabase(Image *im)

}

Class Compass

{

 Public:
   Compass(options)
   GetHeading()
 Private:
   double Heading

}

Class GPS

{

 Public:
   GPS(options)
   GetHeading()
   GetPosition()
 Private:
   double Latitude
   double Longitude
   double Heading

}

Class Sonar

{

 Public:
   Sonar(options)
   GetSonarReadings()
 Private:
   double values[]

}