ProMRDS Home Page VPLExplorer

Professional
   Microsoft Robotics Developer Studio
Home Page Book Contents This Chapter

VPLExplorer Program

Purpose

This program is similar to the ExplorerSim in Chapter 9, except that it works in VPL. It is based on the VPLExplorer code by Paul Roberts that was posted to Channel 9, but this version has several modifications.

Description

The following is a screenshot of VPLExplorer in action:

VPLExplorer

You can leave VPLExplorer alone and the Pioneer robot will wander around without bumping into the obstacles using its Laser Range Finder.

However, you can also take over control of the robot if you have an Xbox controller. If you hold down the Right Shoulder button, the robot goes into Manual mode. In Manual mode, the controls work as follows:

Actually, the value of the Left trigger is subtracted from the Right trigger, so it is possible to squeeze them both at the same time and have them cancel out, i.e. no net forward/backward motion.

In Manual mode, the controller vibration is used to indicate when the robot is close to an obstacle. This can be a little disconcerting, especially if you are not an accomplished gamer -- driving the robot requires you to hold down the right sholder, press the right trigger and move the left thumbstick, all while the controller is trying to jump out of your hands.