State

Broadcast of compressed robot state at 10 Hz. More...

Variables
integer[1]	R_state.do = {1}
	flag for R_state broadcast
integer[27]	R_state
	[out] compressed robot state

Detailed Description

Broadcast of compressed robot state at 10 Hz.

The state of the robot's sensors, representing 36 words, is compressed into the 27 words of the R_state variable as described below. When R_state.do is nonzero, R_state is broadcast in an event of the same name (R_state) at 10 Hz by the prox event. Otherwise, clients are expected to fetch R_state at a frequency of their choosing.

words	bits	value	words	bits	value
0	10-15	acc[0]/2 + 16	4	0-7	distance.front
0	5-9	acc[1]/2 + 16	5		motor.left.target
0	0-4	acc[2]/2 + 16	6		motor.right.target
1	8-15	mic.intensity/mic.threshold	7		motor.left.speed
1	5-7	(reserved)	8		motor.right.speed
1	4	button.backward	9		odo.degree
1	3	button.center	10		odo.x
1	2	button.forward	11		odo.y
1	1	button.left	12		prox.comm.rx
1	0	button.right	13		prox.comm.tx
2	8-15	angle.ground	14-15		prox.ground.delta[0:1]
2	0-7	angle.back	16-22		prox.horizontal[0:6]
3		angle.front	23-26		Qid[0:3]
4	8-15	distance.back