![]() ![]() controllers/novice_remain_in_shadow/novice_remain_in_shadow_corr.bsg If you don't achieve to a solution, open the following automaton in BotStudio (it's a good beginning but it's not a perfect solution). Don't hesitate to add more states (like ”easy rectification - left” and ”hard rectification - left”).) If you don't achieve to a solution, run your e-puck close to a wall, observe the sensors values and think about conditions. (Hints: Setting parameters of the conditions is a difficult task. Create the automaton which corresponds to the precedent description. On the contrary, if it is too far from the wall, it has to rectify to right. So, if it is too close to the wall, it has to rectify its trajectory to left. Of course, it doesn't know the wall shape. First of all, e-puck has to go forward until it meets an obstacle, then it spins on itself at left or at right (let's say at right) to be perpendicular to the wall. The proposed solution can be implemented with an FSM. There are a lot of different ways to apprehend this problem. Let's think about a wall following algorithm. So, don't hesitate to move the e-puck or the obstacles by shift-clicking. The purpose of the doubled wall is to perform either an inner or an outer wall following, and the purpose of the obstacles is to turn around them. The board is larger, there are more obstacles and there is a doubled wall. This exercise still uses BotStudio, but is more difficult than precedent ones. The purpose of this exercise is to create an automaton of wall following. The chariots must have the ”chariot init” state as initial state, and the locomotive must have the ”locomotive init” state as initial state. Note that there are two automata in a single file. If you don't succeed it, you can open the following automaton and try to improve it. The locomotive should go significantly slower than the chariots) (Hints: Create two automata one for the first e-puck of the chain (the ”locomotive”) and one for the others (the ”chariots”). Create an automaton so that the e-pucks form a chain, i.e., the first e-puck goes somewhere, the second e-puck follow the first one, the third one follow the second one, etc. If you want to use the same controller for every e-puck, save the desired automaton and load the saved file on the other e-pucks. You can use either the same robot controller for every e-puck or a different robot controller for every e-puck. Choose a BotStudio window (let say the lowest one). Stopping the simulation before uploading is recommended. Upload the Robot Controller on several e-pucks The order of the BotStudio windows is the same as the order of the e-pucks, i.e., the first e-puck of the queue is linked to the upper BotStudio window. Each e-puck has its own BotStudio window. The e-puck which is the closest to the simulation camera is the last of the queue. This simulation uses more e-pucks, your computer has to be recent to avoid lags and glitches. ![]() Moreover, you will manipulate several virtual e-pucks at the same time. The aim of this exercise is to create a more complex automaton. You will discover the e-puck devices in detail. More complex automata will be created using this module. BotStudio is still used for the first exercises. We assume that the previous exercises are acquired. This chapter is composed of a series of exercises for the novices. ![]()
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