Facts-about-State-Machines
BehaviorTree.CPP
| Facts-about-State-Machines | BehaviorTree.CPP | |
|---|---|---|
| 9 | 4 | |
| 726 | 2,736 | |
| - | 3.9% | |
| 3.5 | 9.3 | |
| 5 months ago | about 12 hours ago | |
| C++ | ||
| - | MIT License |
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Facts-about-State-Machines
- Facts about State Machines
- Facts about state machines
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Embedded Systems Weekly #120
Facts about State Machines When I was a student at the University, I had been introduced to FSMs and to Petri nets. Nobody emphasises how important these tools are (or I don't remember it) for a career in embedded systems. This article is a good introduction to the StateSmith tool, listed as well in this issue.
- RP2040 Synchronized stepper motors with PIO project
BehaviorTree.CPP
- Coroutines make robot code easy for high schoolers
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ROS2 task/schedule/statemachine discussion
Have a look at Behavior Trees, especially the BehaviorTreeCpp library https://www.behaviortree.dev The method is simple to understand, scales better than State Machines and if you implement the actions well they’re inherently modular. Nav2 uses them, and also BostonDynamics in their Spot SDK.
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Facts about State Machines
Unrelated to javascript, but in the robotics industry there is a trend towards Behaviour Trees. https://www.behaviortree.dev/ is a C++ library that was originally designed for controlling robots via ROS, but it appears to be decoupled from the ROS ecosystem so it could be used for other projects.
There is a basic UI available for editing the tree https://github.com/BehaviorTree/Groot
- BehaviorTree.CPP: C++ behavior tree library, batteries included
What are some alternatives?
StateSmith - A state machine code generation tool suitable for bare metal, embedded and more.
ros2_control_demos - This repository aims at providing examples to illustrate ros2_control and ros2_controllers
RP2040_PIO_Steppermotors - Synchronized PIO Programs for stepper motors. 4 Motors possible.
navigation - ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
xstate - Actor-based state management & orchestration for complex app logic.
ardupilot - ArduPlane, ArduCopter, ArduRover, ArduSub source
sml - C++14 State Machine library
carla - Open-source simulator for autonomous driving research.
PipelineC-Graphics - Graphics demos
linorobot - Autonomous ground robots (2WD, 4WD, Ackermann Steering, Mecanum Drive)
pros - Source code for PROS kernel: open source C/C++ development for the VEX V5 microcontroller
quaint-lang - An experimental statically typed procedural language with first-class resumable functions.