Commit c0e9d3e7 authored by Matteo De Carlo's avatar Matteo De Carlo

Final update (hopefully)

removed todos
parent 3118421e
Pipeline #119 passed with stage
in 1 minute and 25 seconds
......@@ -103,7 +103,6 @@ The custom Raspberry Hat (Figures \ref{fig:Brain} and \ref{fig:RaspberryHat}) is
It's also providing an internal voltage sensor to make the robot capable of reading the battery charge.
Support for online recharging of the battery (recharge without unplugging) and wireless charging were added in the design but not implemented because of time constraints.
More details can be found in the Appendix \ref{appendix:hat}.
\todo[author=Matteo,inline]{improve details in the appendix for the hat}
Other electronic components used are the servos, an IMU sensor, photoresistors and an RGB light.
The photoresistors' and IMU sensor's purpose is trivial: to support the brain of the robot with more sensory data and a deeper perception of its surroundings.
......
......@@ -391,7 +391,7 @@ The aim of this thesis is to create a combination of learner and controller algo
\listoftodos
% \listoftodos
%\chapter*{Acknowledgement}
%\chapter{Introduction}
%\section{Evol.computing}
......@@ -604,7 +604,6 @@ The colours are irrelevant to the operation of the robot but they are a useful t
This appendix is a collection of the pseudocode for the main components used in the experiment.
\todo[inline]{Finish Spline Controller Pseudocode}
\alglanguage{pseudocode}
\begin{algorithm}[H]
\caption{Spline Controller}
......@@ -626,7 +625,7 @@ This appendix is a collection of the pseudocode for the main components used in
\EndFor
\State
\State // Init of empty cache
\State $interpolation_cache \gets Array[n_{outputs}]$
\State $interpolation\_cache \gets Array[n_{outputs}]$
\For{$i \gets 0, n_{outputs}$}
\State $interpolation\_cache[i] \gets Array[interpolation\_cache\_size]$
......@@ -641,9 +640,7 @@ This appendix is a collection of the pseudocode for the main components used in
\begin{algorithmic}[1]
\algrestore{alg:SplineController}
\Function{UpdateCache}{$policy, interpolation\_cache$}
\State // Cubic Interpolation from $policy$ to $interpolation\_cache$
\State x
\State //TODO
\State Cubic Interpolation from $policy$ to $interpolation\_cache$
\EndFunction
\algstore{alg:SplineController}
\end{algorithmic}
......@@ -796,12 +793,25 @@ This appendix is a collection of the pseudocode for the main components used in
\end{algorithmic}
\end{algorithm}
\todo[inline]{Insert SUPG controller pseudocode}
\begin{algorithm}[H]
\caption{SUPG Controller}
\label{alg:SUPGController}
\begin{algorithmic}[1]
\State TODO
\Function{SUPG.step}{$sensors, coordinates$}
\State // cppn is the phenotype of the NEAT gene
\For{$actuator,timer \gets robot$}
\State $timer \gets timer$\Call{.update}{{}}
\State $cppn$\Call{.load\_sensors}{$timer.value$}
\State $cppn$\Call{.load\_sensors}{$servo.coordinates$}
\State $cppn$\Call{.load\_sensors}{$sensors$}
\State $cppn$\Call{.activate}{{}}
\State $output \gets cppn$\Call{.output}{{}}
\If{$output[$RESET\_TIMER\_SLOT$] > 0.9$}
\State $timer$\Call{.reset}{{}}
\EndIf
\State $actuator.value \gets output[$ACTUATOR\_SLOT$]$
\EndFor
\EndFunction
\end{algorithmic}
\end{algorithm}
......
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