northern-bites/nbites — pull request #327 by oneamtu (2012-06-13 13:20:47+00:00)
Title: orbit and a few walk provider/walk to fixes

We now have a (pretty) reliable odometry walk. Doesn't take in complex destinations well, but works for individual destination components separate.

Hacked in an orbit that uses this odometry walk. The orbit enquuees a bunch of odometry walks that make the robot strafe and then turn. It takes in an angle and then it splits it up in smaller angles to turn (right now 30 degree turns), and then enqueues a strafe and then a 30 degree turn. With some good radius and angle picks it does its job well. Good for turning ~ 45 degrees around a point.

The orbit's reliability hugely depends on whether the robot slips or not during strafing/turrning since that affects his odometry.