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darwin_walk_toward_target [2017/11/19 18:29] – [Programming] yuhanghedarwin_walk_toward_target [2017/11/20 16:12] (current) – [Motivation and Audience] yuhanghe
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 The rest of this tutorial is presented as follows: The rest of this tutorial is presented as follows:
-  * [[new_mode_demonstration#Programming | Programming]] +  * [[darwin_walk_toward_target#Programming | Programming]] 
-  * [[new_mode_demonstration#Demonstration | Demonstration]] +  * [[darwin_walk_toward_target#Demonstration | Demonstration]] 
-  * [[new_mode_demonstration#Final_Words | Final Words]]+  * [[darwin_walk_toward_target#Final_Words | Final Words]]
  
  
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         }         }
     }     }
-    +        ////////////////////////////// 
 +        ///Skipping Unmodified Codes// 
 +        //////////////////////////////
 // Line 267 Add // Line 267 Add
   else if(m_cur_mode == SPRINT)   else if(m_cur_mode == SPRINT)
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     int _marker_found = 0;     int _marker_found = 0;
     //created a flag for marker     //created a flag for marker
-    +        ////////////////////////////// 
 +        ///Skipping Unmodified Codes// 
 +        //////////////////////////////
 //inside while loop //inside while loop
 while(1) { while(1) {
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     }     }
 +        //////////////////////////////
 +        ///Skipping Unmodified Codes//
 +        //////////////////////////////
 //around Line 350 Add //around Line 350 Add
   case SPRINT:   case SPRINT:
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                 Head::GetInstance()->m_Joint.SetEnableHeadOnly(true, true);                 Head::GetInstance()->m_Joint.SetEnableHeadOnly(true, true);
                 Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);                 Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);
 +                //Initialize walking module and head joints 
 +                
                 if(Walking::GetInstance()->IsRunning() == false && _ball_found != 1){                 if(Walking::GetInstance()->IsRunning() == false && _ball_found != 1){
-            Walking::GetInstance()->X_MOVE_AMPLITUDE = -1.0;+            Walking::GetInstance()->X_MOVE_AMPLITUDE = 30.0; 
 +                //Set forward and back step length to 30cm 
 +                
             Walking::GetInstance()->A_MOVE_AMPLITUDE = 0.0;             Walking::GetInstance()->A_MOVE_AMPLITUDE = 0.0;
 +                //Set yaw step length to 0
 +               
             Walking::GetInstance()->Start();             Walking::GetInstance()->Start();
             }             }
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                 {                 {
                 marker_follower.Process(marker_tracker.ball_position);                 marker_follower.Process(marker_tracker.ball_position);
 +                //use BallFollower object to start following marker
 +                
                         if(greenCount >= 10500 || blueCount >= 10500)                         if(greenCount >= 10500 || blueCount >= 10500)
 +                        //pixel count can be used to approximate distance, but in this case, 
 +                        //this stop condition is sufficient                                 
                         {                         {
                         Walking::GetInstance()->Stop();                         Walking::GetInstance()->Stop();
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 ===== Final Words ===== ===== Final Words =====
  
-This tutorial's objective was to demonstrate how to add a new mode to Darwin OP 2's demo program. Follow this tutorial to quickly implement and test new codes on Darwin OP 2.+This tutorial's objective was to demonstrate how to program Darwin OP 2 to walk toward target. 
 \\ \\
 \\ \\
darwin_walk_toward_target.1511144977.txt.gz · Last modified: by yuhanghe