機器人體驗營筆記（三）進階

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For specific information, please refer to the reference at the end of the article.

編程重點 Code Points

協程和異步，Coroutines & Asynchronous

并發和并行，Concurrency & parallelism

asyncio — Asynchronous I/O

思考案例：機器人在本體運動過程中轉動攝像頭，同時顯示表情并發出語音提示。

Problem Case: The robot rotates the camera during the movement of the body, simultaneously displaying the expression and giving a voice prompt.

有限狀態機?Finite State Machine（FSM）

狀態機廣泛用于機器人編程，從LEGO Mindstorms（NXT-G）到ROS（Smach）。State machines are widely used in robot programming, from LEGO Mindstorms (NXT-G) to ROS (Smach).

將控制邏輯（鏈接）與功能（節點）分開。Separates the control logic (links) from the functionality (nodes).

清潔機器人通過傳感器識別地板、瓷磚或地毯，應用不同的清掃策略。The cleaning robot uses sensors to identify floors, tiles or carpets and apply different cleaning strategies.

事件驅動結構，Event-Driven Architecture

花式狀態機

cozmo_fsm是一個分層、并行、消息傳遞狀態機形式：

分層：狀態機可以嵌套。

并行：可以同時激活多個狀態。

消息傳遞：轉換可以將信息傳輸到其目標節點

Fancy State Machines

cozmo_fsm is a hierarchical, parallel, message passing state machine formalism:

Hierarchical: state machines can nest.

Parallel: multiple states can be active at the same time.

Message passing: transitions can transmit information to their target nodes

機器人前進或轉向后，位置的變化數據。The change in position and orientation data is output after the robot moves forward or turns.

案例 demo：

"""

The BackItUp demo illustrates the use of fork/join to launch

parallel actions and synchronize them again. The fork is performed

by the NullTrans transition with two destinations, while the join is

performed by the CompletionTrans transition with two sources.

Behavior: Cozmo backs up by 100 mm while simultaneously beeping. He

uses DriveForward instead of Forward to avoid conflict with the Say

action. When he's done backing up, he stops beeping and says 'Safety first'.

"""

try:

from cozmo_fsm import *

except ImportError:

raise ImportError("Can't find the cozmo_fsm package. Check your search path.")

class BackItUp(StateMachineProgram):

def setup(self):

"""

launcher: StateNode() =N=> {driver, speaker}

driver: Forward(-100,10)

speaker: Say('beep',duration_scalar=0.8,abort_on_stop=True) =C=> speaker

{driver,speaker} =C=> finisher: Say('Safety first!')

"""

# Code generated by genfsm on Thu Feb 16 23:51:48 2017:

launcher = StateNode() .set_name("launcher") .set_parent(self)

driver = Forward(-100,10) .set_name("driver") .set_parent(self)

speaker = Say('beep',duration_scalar=0.8,abort_on_stop=True) .set_name("speaker") .set_parent(self)

finisher = Say('Safety first!') .set_name("finisher") .set_parent(self)

nulltrans1 = NullTrans() .set_name("nulltrans1")

nulltrans1 .add_sources(launcher) .add_destinations(driver,speaker)

completiontrans1 = CompletionTrans() .set_name("completiontrans1")

completiontrans1 .add_sources(speaker) .add_destinations(speaker)

completiontrans2 = CompletionTrans() .set_name("completiontrans2")

completiontrans2 .add_sources(driver,speaker) .add_destinations(finisher)

return self

particle_fiter_demo：

立方體 cube

tf：

持續更新完善，時間標簽：2019-07-26。

參考文獻references：

Anki文檔：http://cozmosdk.anki.com/docs/

cozmopedia：https://github.com/touretzkyds/cozmopedia/wiki

認知機器人學：https://blog.csdn.net/ZhangRelay/article/details/86736743

機器人

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