Data Processor

There is no longer the concept of a "robot" class, instead that information will be contained in the data processor.

The data processor will be the only class to initialize and communicate with the processors corresponding to physical devices.

The data processor will contain the follwing:

  • an instance of each sensor (possibly 2 motors or a single processor)
  • the physical characteristics of the robot (length, width, …)
  • the offset locations of each device

Offsets and Measurements

* All offsets are from ground level below the center of the front axle
* x dimension: parallel to the front axle. When looking from behind the axle right is positive
* y dimension: perpendicular to the front axle. In front of the axle is positive.
* z axis: the ground is 0mm, there should be no negative values

image to come

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