Changes between Version 80 and Version 81 of UserGuideGit

Timestamp:

Nov 22, 2017, 12:49:09 PM (8 years ago)

Author:

fma

Comment:

--

UserGuideGit

@@ -3 +3 @@
 = User guide (git) =
 
-''This documentation tries to follow the developement version of Py4bot. It may or may not be up-to-date.''
+''This documentation tries to follow the development version of Py4bot. It may or may not be up-to-date.''
 
 For installation instructions, see [InstallationGuide here].
@@ -161 +161 @@
 [[Image(design_gait.png, 300px)]]
 
-==  Remote controllers ==
+==  Remote controls ==
 
 The {{{RemoteControl}}} translates user orders to {{{Robot}}}/{{{GaitSequencer}}} methods calls.
@@ -167 +167 @@
 [[Image(design_remote-control.png, 300px)]]
 
-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.
+As you can see on the UML diagram, a {{{RemoteControl}}} object uses {{{Components}}}; a {{{Component}}} can be a {{{Button}}}, a {{{Switch}}} an {{{Analog}}}, or a {{{Joystick}}}.
+
+{{{RemoteControl}}} has the following virtual methods which must be override in a custom remote control class:
+
+* {{{_createFrontend(self)}}}
+
+This method must return an input frontend.
+
+* {{{_buildComponents(self)}}}
+
+Here, we create the components of the remote control
+
+The following methods are used to setup the remote control:
+
+ * {{{_addConfig(self, config)}}}
+ * {{{_addComponent(self, cls, **kwargs)}}}
+
+(See below)
+
+Then, a number of objects/methods can be used as components commands:
+
+ * selectPreviousConfig(self)
+ * selectNextConfig(self)
+ * {{{robot}}}
+
+The {{{robot}}} object is used to reach the robot methods from the components.
 
 === Components ===
 
-'''Py4bot''' implements different components to build a custom remote control mapping:
+'''Py4bot''' implements different components to build a custom remote control. All components 
 
 ==== Button ====
@@ -200 +225 @@
 === 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.
+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'', use the {{{_addConfig()}}} method. This method take a string as argument, the name of the config.
 
 === Mappers ===
@@ -208 +233 @@
 '''Mappers''' are simple objects helping to adapt params from '''!RemoteControl''' '''Components''' output to '''Robot'''/'''!GaitSequencer''' methods input.
 
-For example, to control the robot walk, we can create a '''Joystick''' component with 3 axes: X, Y, RZ.
-
-But the '''!GaitSequencer''' {{{walk()}}} method expects '''speed''', '''direction''', '''length''' and '''angle''' params. Using the '''!MapperWalk''' mapper, you can compute all these params from X/Y/RZ axes, and send them to the '''walk()''' method. That's what we did in the [[Tutorials|tutorials]].
-
-See [[https://framagit.org/fma38/Py4bot/blob/master/py4bot/inputs/mappers/mapper.py|py4bot/inputs/mappers/mapper.py]] to see how this mapper is defined.
-
-Of course, you can define your own '''Mappers'''.
+Custom '''Mappers''' can be defined.
 
 === Add a new Frontend ===
@@ -220 +239 @@
 {{{Frontend}}}s are responsible of generating states. This is where specific controllers implementation live.
 
-There are some usefull {{{Frontend}}}s defined in '''Py4bot''', mainly USB-based, using ''event'' interface. See [[Tutorial4AddInputFrontendSupport|tutorial 4]] to see how to add a new frontend.
+There are some usefull {{{Frontend}}}s defined in '''Py4bot''', mainly USB-based, using ''event'' interface. See [Tutorial4AddInputFrontendSupport tutorial 4] to see how to add a new frontend.