Overview

The move primitive drives the robot forward or backwards in a straight line.  The monitor checks for front and rear obstacles, drop-offs in front of the robot, 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.  The robot's encoders are used to resolve the requested distance to roughly 1/200 of an inch at the wheels (not counting for any slippage that may occur).

The robot only checks for front obstacles when moving forward and only checks for rear obstacles when moving backward.  Thresholds for front and rear obstacle detection may be adjusted by modifying the front-ranger-threshold and rear-ranger-threshold properties of the Garcia object.  These properties may also be set within an XML script by using a global primitive.

Return Status

This primitive returns either a succesful completion or the condition that terminated the motion.

Property Inheritance

move inherits Behavior inherits Object properties.