Lab #4 is now fully working. So you need to run kbd_publisher, this is an event window that you enter keys into. To start, press f key. Then you can control the robot using the w,a,s,d keys to turn, go back, and go forward. If you press the v key, the robot goes into vision control mode. This will use the kinnect camera to guide the robot to a place in the field of view. It is not perfect yet, the turning angles need to be calibrated and the time used to calculate the heading vector could be a little bit better, but it works and it does navigate to the place that it is told to be at.

Gutted the last program, completely rewrote the FSM into the file robot1.py instead of robot0.py. This file actually works pretty well, it handles user commands easily and now I just need to get the vision control states to work and we will be done with lab #4

Added new file that is being used to test out a new state machine. The old code isn''t working too well for these new tasks so I''m gutting it

Much of lab #4 is done. We have the lab2 program passing in the coordinates of the robot and of the target location. We then have the main program calculating a vector to the target and also calculating its last heading vector. Based on these two vectors we decide if we need to turn or go straight to get to the goal

Full simple vision follow mode now integrated. Lab #3 is 100 percent complete and working.

Changed up the key pressed needed for control. Can now switch between command, line follow, and vision commands by using the c, l, and v keys respectively. Also changed up some of the code to make it less error prone

Added the scaffolding required for lab #4. The lab2.py file passes vision information (coordinated of the robot) to the robot0.py file where the coordinates are assembled and ready to be acted upon, which will be my job tomorrow

Initial commit

Merge branch ''master'' of http://github.com/jhallard/HMCIntroLab2

The robot now has two states. One is a state that allows you to send commands using w/a/s/d. The next state will automatically follow a line of tape of the floor and it works very well. The user can change states by using the / key. To start the program, get the roscore drivers running, then start kbd_publisher, then run robot0.py