Robocup Module Development

From GT RoboJackets

Module Creation

A module needs to implement the virtual functions of the Module class (located in /common/framework/Module.hpp), in particular, a constructor and the run() function. Modules should create a new namespace.

Of particular importance is the order in which modules are executed. The order is determined by their instantiation in /soccer/MainWindow.cpp, in MainWindow::setupModules(). Through a processing cycle, each module with be executed in turn.

Accessing State Data

Data can be accessed through the _state variable that is passed into the modules automatically.

State Variable Components:

The state variables are broken into several components, defined by XML files in /common/framework/packets/. These files will be generated at compile time.

• LogFrame - (TODO: Rename) - Contains all robot and ball information, as well as access to raw vision data and radio transmission. All changes to the state variable should be implemented through the XML files, rather than making additions to the SystemState.hpp (/common/framework/).
• Vision - stores raw data from vision system.
• RadioTx - direct commands to send to the robot.