Build a Sumo Model robot

  1. Double-click on navigate class to open its state machine canvas.

  2. Double-click the attacking state to open its activity editor. Paste in the following OAL or type it in by hand:

    select one s related by self->steering[R1];
generate steering3:straight() to s;
select one d related by self->drive[R2];
d.forward();

    Save and close this activity editor

    sumo hw 5.1

  3. Double-click the retreating state to open its activity editor. Paste in the following OAL:

    select one s related by self->steering[R1];
generate steering3:straight() to s;
select one d related by self->drive[R2];
d.reverse();
create event instance e of navigate1:pop() to self;
t = TIM::timer_start( microseconds:self.retreat_duration * 1000000, event_inst:e );

    • Save and close this activity editor

  4. Double-click the targeting state to open its activity editor. Paste in the following OAL:

    select one d related by self->drive[R2];
d.stop();
select one s related by self->steering[R1];
generate steering1:left() to s;
create event instance e of navigate1:pop() to self;
t = TIM::timer_start( microseconds:self.target_duration * 1000000, event_inst:e );

    • Save and close this activity editor

    • Close this state machine canvas

  5. Double-click on steering class to open its state machine canvas.

  6. Double-click the maintaining state to open its activity editor. Paste in the following OAL:

    send IO::turn(orientation: Orientation::straight);

    • Save and close this activity editor

  7. Double-click the lefting state to open its activity editor. Paste in the following OAL:

    send IO::turn(orientation: Orientation::left);

    • Save and close this activity editor

  8. Double-click the righting state to open its activity editor. Paste in the following OAL:

    send IO::turn(orientation: Orientation::right);

    • Save and close this activity editor

Submitting your assignment

  • Take a screenshot of your navigate and steering state machines.

  • Open the BridgePoint support issue you created in homework 1.1.

  • Edit the issue, scroll down to the Edit field:

    • Change the Status to "Feedback"

    • Change the Assignee to "cstarrett"

    • Add a Note that this assignment is completed

    • Use the Choose Files button to attach your screenshots

  • Click the Submit button

back to assignment list