Overview

The turn primitive causes the robot to rotate about one wheel.  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 turn with high accuracy.

The robot only checks for front obstacles when the turning wheel is moving forward and only checks for rear obstacles when the turning wheel is 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.

Defined values that may be used as turn parameters can be found in the aGarciaDefs.tea file in the aSystem subfolder of the brainstem directory tree.

Return Status

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

Property Inheritance

turn inherits Behavior inherits Object properties.