Automatic code Generation for State Machine with robocompdsl

My project is an extension to the robotics framework RoboComp that generates components driven by a state machine. The steps to build such a component are published in the following link:

https://github.com/ibarbech/robocomp/blob/automaticstatesmachine/doc/Generate_State_Machine_With_robocompcdsl.md

All commits is in the follow link:

https://github.com/ibarbech/robocomp/commits/automaticstatesmachine?author=ibarbech

Post

  1. Introduction, Problem Statement and Deliverables
  2. State Machine Code Generation in C++
  3. Update State Machine Code Generation in C++
  4. State Machine Code Generation in Python

Hexapod Phantom-X

Also, I created another repository to store the code necessary to control the hexapod phantom-X. This code uses a state machine for each of the six legs of the hexapod. Each leg has been modified to place a pressure sensor at the distal tip and an IMU (Inertial Measurement Unit) has been addet to the robot's body. These devices are used along with the state machines to stabilize the hexapod on uneven ground using free adaptive gaits.

There are still some limitation I am working on that limit the communication speed with the legs.

https://github.com/ibarbech/hexapod-robot