By: Tate McGeary
When going over the telemetry responses sent by the Arxterra application to the microcontroller, the group determined how to set up the decision tree for instruction interpretation.
Notice the difference between flow charts in show below, one is for the microBiPed and the other is for the BiPed. The logic of both trees are still the same, simple if then else statements, however if one looks at how the decisions are made there is a slight difference. Notably, the microBiPed looks like it has fewer checks in each if else statement, due note that both are viable methods as both preform the same task. To see the exact difference in the decision making, below is a picture of just the forward, right, and left blocks of the flow charts for one to compare.
The success of the decision tree dictating the different actions, means that the group just has to replace the digitalWrite(pin#, HIGH) portion of the code with the move commands.
How the group interpreted the telemetry is in another blog HERE.
