Overview

The dock primitive drives the robot backwards into a base station.  Prior to calling this primitive, the robot must be lined up so that it can back straight into the base station.  It is up to the user to position the robot for docking.  The monitor keeps track of obstructions, edges, stalls, and other boundary conditions.  The current speed setting for the robot is used for the motion and smooth ramping is used to create a fluid movement.

Return Status

This primitive returns either a succesful completion code, aGARCIA_ERRFLAG_NORMAL , or the code for the condition that terminated the motion.

Property Inheritance

dock inherits Behavior inherits Object properties.