With Command MOVE Override for maze navigation
By: Matt Shellhammer (Electronics & Control Engineer)
Approved by: Lucas Gutierrez (Project Manager)
Introduction
To use the Arxterra App to control the robots at The Robot Company, custom commands to override the MOVE command have to be defined. These custom commands will be defined to be used with the Arxterra App’s D-pad while the robots are within RC mode.
Methodology
The D-pad will be defined with custom commands to move the car forward, left, right, and back (turn around) matching the buttons on the D-pad up, left, right, and down respectively. What these buttons on the D-pad will be defined to do is call predefined turn commands (per-project) and it will update the turn value of the robot. Then the previous direction the robot was facing and the turn value will be stored into EEPROM using write to EEPROM software within the main loop.
The custom commands to override the MOVE command will be defined within the moveHandler subroutine and follow the convention defined for the command packet structure. Below is an example of a MOVE command override. The custom commands will be defined outside of the main loop either below the main loop or within another .ino file within the same folder.
Figure 1. custom command MOVE override example
