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Re: [Aria-users] Autodocking
- To: William Hutama <gr33nl1nk@xxxxxxxxx>
- Subject: Re: [Aria-users] Autodocking
- From: Matt LaFary <lafary@xxxxxxxxxxxxxxxx>
- Date: Wed, 21 May 2008 10:06:08 -0400
- Cc: aria-users@xxxxxxxxxxxxxxxx
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If you don't want to use the functionality built into Arnl for docking,
then you'll have to write your own, or take the code that does it from
ArServerClasses.cpp (next release it'll be in ArDocking.cpp) and modify
it to suit your needs. It uses ArServerModeDock,
ArServerModeDockTriangleBump, and ArServerModeDockPowerBot
Basically it drives to a spot in front of the goal, then uses
ArActionTriangleDriveTo to drive into the charger, then sends down
comInt(68, 1) to activate the docking and when it undocks sends down
comInt(68, 0) to deactivate the docking. It pays some attention to
robot flags to make sure its docked and what not, mostly
ArRobot::getFlags ArUtil::BIT10.
Matt LaFary
MobileRobots Inc
William Hutama wrote:
> Hi, Im wondering if i can make my powerbot automatically dock into the charge station,
> but i dont want to make use of ArMap because i have my own localization and mapping algorithm, so, i just want to make it
> autodocking whenever the battery is low and the dock is nearby. Thanks.
>
> William
>
>
>