Overview

The pivot primitive causes the robot to pivot about the center axis.  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.  The robot's encoders are used to resolve the requested rotation with high accuracy.

The robot only checks for rear obstacles when performing a pivot.  Due to its shape, it may hit things with its rear end when performing a pivot.  The front of the robot is circular and will not hit things when the robot is rotating.  The threshold for rear obstacle detection may be adjusted by modifying the rear-ranger-threshold property of the Garcia object.  This property 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

pivot inherits Behavior inherits Object properties.