Robot
The embedded systems for UTRA's autonomous humanoid soccer-playing robot
Variables
Communication (Header)
Communication

Header for communication, showing the public content. More...

Collaboration diagram for Communication (Header):

Variables

RobotGoal robotGoal
 
RobotState robotState
 

Detailed Description

Header for communication, showing the public content.

Variable Documentation

◆ robotGoal

RobotGoal robotGoal

This is the container for the goal state of the robot. Each control cycle begins by refreshing this data structure (by receiving a new goal from the control systems running on the PC) and then sending commands to actuators stop reduce the error between the current state and the goal state

Definition at line 30 of file Communication.c.

◆ robotState

RobotState robotState

This is the container for the current state of the robot. Each control cycle ends once this data structure is populated with fresh sensor data, at which time this container is serialized and sent back to the PC for feedback control

Definition at line 38 of file Communication.c.