Building limb programs with Behavior Trees

[i-make-robots]

This is a stub until I can fill out more details.

Basically... a set of custom nodes that contain some state information. They all have a return code (running, success, failure). on every update() the nodes are walked. running nodes know which child to call, if any. the process repeats until a node fails, which kicks up the tree, or success, which moves on to the next node (controlled by the parent). This is a more flexible version of the LimbPlanner that already exists in 2.105.0

[i-make-robots]

See also https://www.behaviortree.dev/

[i-make-robots]

This seems like a lot of work for not much benefit in the short term. Will close for now and reopen if there is need later.

[i-make-robots]

Well... ended up doing it because I couldn't find an easier way.

[i-make-robots]

• absolute moves
• relative moves
• patterns of moves
• IO toggles?
• PWM changes?
• wait for signal?