Changes between Version 87 and Version 88 of UserGuideGit

Timestamp:

Nov 22, 2017, 4:00:04 PM (8 years ago)

Author:

fma

Comment:

--

UserGuideGit

@@ -139 +139 @@
 This method can only be called when the robot is in ''idle'' state.
 
-It allows you to extend/reduce the ''length'' of the legs. Each time this method is called, the robot will do a ''static walk'', in order to put all feet to there new neutral position.
+It allows you to extend/reduce the position of the feet. If the robot is in ''idle'' or ''pause'' sequence, it will do a ''static walk'', in order to put all feet to there new neutral positions.
 
 == Actuators, Pools and Drivers ==
@@ -155 +155 @@
 [[Image(py4bot-gui-servocal.png, 300px)]]
 
-== Gaits and !GaitSequencer ==
-
-The {{{Gaits}}} and {{{GaitSequencer}}} implement the dynamic part of the movements, ie the gait itself. It computes the successive feet positions in order to make the robot walk.
+== !GaitSequencer and Gaits ==
+
+The {{{Gait}}}s and {{{GaitSequencer}}} implement the dynamic part of the movements, i.e. the gait itself. It computes the successive feet positions in order to make the robot walk.
 
 [[Image(design_gait.png, 300px)]]
+
+In the current implementation, a {{{Gait}}} is mainly a set of tables describing how the robot walk. These tables contains the steps the feet will have to follow.
+
+The {{{GaitSequencer}}} is an important part of the framework, and maybe the most complicated one. I have to admit that it is far from perfect, and will need additional work.
+
+TODO: move high level description to #architecture part.
 
 ==  Remote controls ==