Changes between Version 88 and Version 89 of UserGuideGit

Timestamp:

Nov 22, 2017, 4:03:21 PM (8 years ago)

Author:

fma

Comment:

--

UserGuideGit

@@ -17 +17 @@
 The main parts of the framework are:
 
-* the '''robot''' itself;
-* the '''gait sequencer''';
-* one or more '''remote controllers'''.
+* the '''robot''' itself, containing the IK engine (static implementation);
+* the '''gait sequencer''', making the robot walk (dynamic implementation);
+* one or more '''remote controllers''', allowing the control of the robot.
 
 [[Image(design_simple.png​, 300px)]]
 
-Each of these parts runs as separate thread. For now, the robot does nothing in its main loop, ans so, can be used for further devs (automatic stabilization...).
+Each of these parts runs as separate thread. For now, the robot does nothing in its main loop, ans so, can be used for further devs (auto-leveling...).
 
 == Geometry definition ==
@@ -155 +155 @@
 [[Image(py4bot-gui-servocal.png, 300px)]]
 
-== !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.
+== Gaits and !GaitSequencer ==
+
+The {{{Gait}}}s and {{{GaitSequencer}}} implement the dynamic part of the movements: they compute the successive feet positions in order to make the robot walk, and send them to the IK engine.
 
 [[Image(design_gait.png, 300px)]]