[Dprglist] First BBR implementation and some questions

[Thalanayar Muthukumar]

Hi David,

If you define ballistic behavior that way, it makes sense.

A “move back” ballistic behavior can be triggered by event “distance to obstacle less than 1 cm” and in the next loop, even though “distance to obstacle is 2 cm”, based on it being ballistic behavior, it can continue to “move back” even though it can be interrupted by high priority events.

Regards.
- Kumar

Sent from my iPhone

> On Oct 31, 2021, at 9:59 PM, David P. Anderson via DPRGlist <dprglist at lists.dprg.org> wrote:
> 
> 
> Well, Karim, now that you mention it...
> 
> 
> 
> On 10/31/21 5:26 PM, Karim Virani via DPRGlist wrote:
>> I agree with Doug, you should never have blocking code unless you can dedicate a separate thread to it apart from your main loop's thread.
>> 
>> And not to start up the whole debate again, I personally vote that there is no use for ballistic behaviors. I treat them as an academic construct. There are plenty of uses of objective-oriented and terminating behaviors - including those where the objective is to last for a certain amount of time. But they should still be interruptible and cancellable by higher priority behaviors. 
> I believe this is a misunderstanding of what ballistic behaviors are in the context of subsumption.   For some reason the idea has taken root that what makes a behavior ballistic is that it for some reason cannot be interrupted.    That is a red herring.   What make a behavior a ballistic behavior in the context of subsumption is that it continues to execute after the signal that triggered it has ceased.  
> 
> That's all.    
> 
> I don't understand why such a simple concept has turned out to be so hard to communicate.  I consider this a major failing on my part.
> 
> cheers!
> 
> David
> 
> 
> 
> 
> 
>> 
>> On Sun, Oct 31, 2021 at 5:08 PM Doug Paradis via DPRGlist <dprglist at lists.dprg.org> wrote:
>>> Kumar,
>>>     I always pass through the loop. So a 1 sec backwards maneuver would use a loop counter with a disengage value of 50 for a loop time of 20 mS. I am not using a multitasking framework, which opens up other possibilities. 
>>> 
>>> Regards 
>>> Doug P.
>>> 
>>> Sent from my iPhone
>>> 
>>>> On Oct 31, 2021, at 4:54 PM, Thalanayar Muthukumar via DPRGlist <dprglist at lists.dprg.org> wrote:
>>>> 
>>>> https://youtu.be/fuFamNWyXc4 (~15 sec)
>>>> 
>>>> 20 times per sec
>>>> - default behavior - go straight forward, green headlights
>>>> - higher priority behavior - light sensed, turn left, red headlights
>>>> 
>>>> My understanding of BBR is that there should be no state maintained.
>>>> 
>>>> Question - If we trigger a ballistic behavior (e.g. go straight backward for one sec), is it ok to not return to the loop every 50 msec?
>>>> 
>>>> Or is it preferable to maintain state and count 20 times for getting duration of 1 sec?
>>>> 
>>>> Regards.
>>>> - Kumar
>>>> 
>>>> 
>>>> 
>>>> Sent from my iPhone
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