Differences

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--- darwin_walk_toward_target [2017/11/19 18:31] – [Programming] yuhanghe
+++ darwin_walk_toward_target [2017/11/20 16:12] (current) – [Motivation and Audience] yuhanghe
@@ Line 22: / Line 22: @@
 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]]
@@ Line 214: / Line 214: @@
                 Head::GetInstance()->m_Joint.SetEnableHeadOnly(true, true);
                 Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);
+                //Initialize walking module and head joints
                 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;
+                //Set yaw step length to 0
             	Walking::GetInstance()->Start();
             	}
@@ Line 224: / Line 229: @@
                 {
                 marker_follower.Process(marker_tracker.ball_position);
+                //use BallFollower object to start following marker
                         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();
@@ Line 247: / Line 256: @@
 ===== 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.
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