Changes between Version 76 and Version 77 of UserGuideGit

Timestamp:

Nov 22, 2017, 11:26:17 AM (8 years ago)

Author:

fma

Comment:

--

UserGuideGit

@@ -169 +169 @@
 As you can see on the UML diagram, a {{{RemoteControl}}} object is build with {{{Components}}}; a {{{Component}}} can be a {{{Button}}}, a {{{Switch}}} an {{{Analog}}} axis, or a {{{Joystick}}}, which is several {{{Analog}}} axes bound together.
 
-=== Using Mappers ===
+=== Components ===
+
+'''Py4bot''' implements different components to build a custom remote control mapping:
+
+==== {{{Button}}} ====
+
+This is a simple push button, whith several ''triggers'', in order to control its behavior:
+
+ * click
+ * double-click
+ * press
+ * release
+ * hold
+ * double-hold
+
+Default trigger is ''click'' (you must press and release the button quickly).
+
+==== {{{Switch}}} ====
+
+This is a button toggling between 2 states when you press it.
+
+==== {{{Analog}}} ====
+
+This component handles a single analog axis.
+
+==== {{{Joystick}}} ====
+
+Combines several {{{Analog}}} axes.
+
+=== Configurations and modifiers ===
+
+There are many commands to control the robot, and not enough physical buttons/axis on a gamepad. So, a solution is to multiplex these buttons/axis. There are 2 ways to do that: ''configurations'' and ''modifiers''. ''configurations'' allow us to change the entire mapping; ''modifiers'' only changes a button meaning.
+
+To create several ''configurations'', we use the {{{_addConfig()}}} method. This method take a string as argument, the name of the config. In our example, we created 2 ''configurations'', one to dynamically control the robot (make it walk), the other one to statically control the robot (move the body).
+
+=== Mappers ===
 
 '''Mappers''' are simple objects helping to adapt params from '''!RemoteControl''' '''Components''' output to '''Robot'''/'''!GaitSequencer''' methods input.