Module boundarySM

Very simple behavior for following the boundary of an obstacle in the world, with the robot's 'right hand' on the wall.

Classes
	BoundaryFollowerSM4 State machine with instances of `io.SensorInput` as input and `io.Action` as output.
	BoundaryFollowerSM2 State machine with instances of `io.SensorInput` as input and `io.Action` as output.

Functions

clearTest(selectedSensors, threshold)

frontClear(sensors)

leftClear(sensors)

rightClear(sensors)

frontSonars(sensors)

front6Sonars(sensors)

leftSonars(sensors)

rightSonars(sensors)

rightmostSonar(sensors)

wallInFront(sensors)

wallOnRight(sensors)

pickAction(state)

Variables
	sideClearDist = `0.3`
	clearDist = `0.25`
	forwardSpeed = `0.25`
	rotationalSpeed = `0.25`
	stop = `io.Action(0, 0)`
	go = `io.Action(forwardSpeed, 0)`
	left = `io.Action(0, rotationalSpeed)`
	right = `io.Action(sideClearDist* rotationalSpeed,-rotationalSp...`

Variables Details

Value:

io.Action(sideClearDist* rotationalSpeed,-rotationalSpeed)