Intro

Motion Control encompasses the tasks related to moving physical robots on the field.

Computer-side

The following classes play a role in motion control on the computer:

• MotionConstraints
• OurRobot
• MotionControl
• Pid

Here's a basic outline of how the motion control system currently works:

• Processor.run()
  • GameplayModule.run()
    • Play.run()
      • Behavior.run()
        • OurRobot.move(2dpoint)
          • sets targetPos in OurRobot._motionConstraints
    • OurRobot.replanIfNeeded()
      • looks at _motionConstraints and uses RRTPlanner to generate a new plan if needed
  • OurRobot.motionControl().run()
    • sets body_x, body_y, and body_w on the robot's RadioTx::Robot packet
  • Processor.sendRadioData()
    • builds the RadioTx packet by conglomerating each OurRobot's RadioTx::Robot packet

Robot-side

The robots receive instructions from the field computer in the form of protobuf packets sent over the radio. See control.{h, c} to see how the motion control code works. The control code is called from the main() runloop.