Live Robot Programming IWST 2014 at ESUG, Cambridge

1. LIVE ROBOT PROGRAMMING
Johan Fabry & Miguel Campusano

2. LIVE PROGRAMMING IS AWESOME!

3. DEVELOPMENT CYCLE

4. DEVELOPMENT CYCLE: ROBOTS

5. LIVE PROGRAMMING { +
+

6. LIVE ROBOT PROGRAMMING
Johan Fabry & Miguel Campusano

7. LRP
• Nested State Machines
• Live Programming
• Pharo Smalltalk.

8. DORA, THE EXPLORER

9. DEMO

10. CHALLENGES

11. CHALLENGES
• Compile Blocks
• Variables as Value Holders
• Experience Report: The Lag

12. CHALLENGES
• Compile Blocks
• Variables as Value Holders
• Experience Report: The Lag

13. EXPERIENCE: LAG
(on wall looking -> backward t-bw)
(event wall [ultra value read < 20])
!
!

14. EXPERIENCE: LAG
(on wall looking -> backward t-bw)
(on bump looking -> backward t-bump)
!
(event wall [ultra value read < 20])
(event bump [bumper value read = 1])
!

15. EXPERIENCE: LAG
(on wall looking -> backward t-bw)
(on bump looking -> backward t-bump)
!
…
!
(event wall [ultra value read < 20])
(event bump [bumper value read = 1])
!
…

16. CONCLUSIONS

17. CONCLUSIONS
• Live Programming is awesome (again)
• Robots could be benefited with live programming
• LRP improves the development of robots (?)

18. CONCLUSIONS
• Live Programming is awesome (again)
• Robots could be benefited with live programming
• LRP improves the development of behaviours

19. LIVE ROBOT PROGRAMMING
Johan Fabry & Miguel Campusano
http://pleiad.cl/LRP