marcin is currently certified at Journeyer level.

Name: Marcin Coles
Member since: 2005-07-18 05:20:49
Last Login: 2010-11-09 02:53:11

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20 Oct 2006 (updated 9 Nov 2010 at 02:51 UTC) »
21 Nov 2005 (updated 9 Nov 2010 at 02:51 UTC) »
10 Nov 2005 (updated 9 Nov 2010 at 02:52 UTC) »
1 Nov 2005 (updated 9 Nov 2010 at 02:52 UTC) »

Okay, so I was a bit premature in giving myself kudos for getting a nice subsumption/arbitration thing going there. I've been refactoring the code a little while writing the rotating ranger code (ie servo+SRF as a single entity), and as it turns out, one of the conditional compiles wasn't #defined previously. Now that I have enabled it ... well subsumption has a little way to go.

That being said, though, I have to say that the architecture works as designed, it is just that my behaviours are too simple - they should be state machines, not simple conditional outputs. It does raise the question though, once the behaviours are FSMs, what will happen once a higher-priority tasks interrupts a lower priority one, since not all behaviours are mutually exclusive.

Cheers, Marcin.

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