class |
MNSRobotPart
Class implementing parts of the robot from the symbolic or highest point of
view Each BodyPart has a set of associated devices that are fetched against
the incoming commands in form of either files or strings This set of command
is send to CNS that takes care about the synchronization and other low level
features
The order of devices is as follows: first is speech synthesis second is
speech recognition Third is vision control system all devices after are
servos associated with robot movements
Each CNSRobotPart can have only one ThreadedCommand at a time This is not
restricted but the feedback is not tracking the appropriatte devices and
confusion between threads can occur This is done by initiating a command with
a ExecPeriod != 0 ThreadedCommand will be executing all parts of the command
beside SpeechProduction. |