Benedict Allen exerro

Keybase proof

I hereby claim:

I am exerro on github.
I am shady_duck (https://keybase.io/shady_duck) on keybase.
I have a public key ASBLFcvOXMCfPW7Vwe0EtbjaIwzyCdE2iBfgyyKFA7pahAo

To claim this, I am signing this object:

Control interface

This document defines the structure and parameters of messages sent between the Arduino microcontroller on either robot, and the Raspberry Pi on the secondary robot which handles high level logic and control

Message structure

struct Message {
	char command;


	local function safeIndex(t, ...)
	for _,v in ipairs({...}) do
	t = t[v]
	if not t then return nil end
	end
	return t
	end

	local function safeIndex2(t, ...)


	--[[ Path library for Lua (by exerro aka Benedict Allen)

	Create a path using

	local p = Path 'my/directory'

	Combine paths like

	local file = p / 'subdir' / 'myfile.txt'

	local __localmodules = {}
	local __localmodulecache = {}
	local __localmodulelines = {}
	local __require = require
	local function require(module)
	local f = __localmodules[module]
	if not f then return __require(module) end
	local result = __localmodulecache[module]
	if result == nil then
	__localmodulecache[module] = true


	local args = { ... }
	local config

	local CONFIG_PATH = ".ccsync.conf.lua"
	local ERR_CONFIG_FAIL = "Failed to open CCSync config file"
	local CONFIG_KEY_URL = "basic:url"
	local CONFIG_KEY_LOCALPATH = "basic:localpath"
	local PROMPT_URL = "URL:"
	local PROMPT_LOCALPATH = "Local path:"


	grammar Flux;

	type Name = string[]

	enum AST {
	enum RootStatement {
	NamespaceStatement(Name, RootStatement[])
	EnumDefinition(Name, Template, EnumBody)
	ClassDefinition(bool, bool, Name, Template, Type.Reference, Type.Reference[], ClassBodyStatement[]) // final abstract

	Pair<A<T>, A<U>> ApplyBoth<T, U>(f: forall. Function<X, A<X>>, (a, b): Pair<T, U>) {
	return (f(a), f(b)) // Yeah, I made this syntax up
	}

	package Flux;

	import java.util.ArrayList;
	import parsing.Position;

	public abstract class AST {
	public static enum NodeType {
	Statement,
	Expression,
	Definition,

	local diff = e1.position:sub( e2.position );
	local dist = diff:len();
	local radius = e1.shape.radius + e2.shape.radius;

	if dist < radius then
	return Collision( e1, e2, radius - dist, diff:div( dist ) )
	end