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added shortcode for mermaid #2

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added shortcode for mermaid #2

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9c5541d
added shortcode
raghavauppuluri13 Aug 15, 2022
9a06ba1
bugfix
raghavauppuluri13 Aug 15, 2022
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19 changes: 10 additions & 9 deletions content/wiki/Active Projects/robot-arm/software.md
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Expand Up @@ -21,7 +21,7 @@ From this, you can then:

## System Overview

```mermaid
{{<mermaid>}}
graph
subgraph Behavior Planning
BP1[Behavior Planner]
Expand Down Expand Up @@ -94,9 +94,10 @@ graph
class BP1,LL1,BP2,BP3,V2 not_started
class PC1 in_progress
class S1,S2,LL2,LL3,V1,PC2,PC3 done
```

```mermaid
{{</mermaid>}}

{{<mermaid>}}
graph
l1[Not Started]
l2[In Progress]
Expand All @@ -107,7 +108,7 @@ classDef done fill:#81ff9b
class l1 not_started
class l2 in_progress
class l3 done
```
{{</mermaid>}}

## High level

Expand All @@ -116,7 +117,7 @@ After the robot turns on or at any given point of time, what should the robot do

Overall, it should output executable commands that return true or false if they are completed successfully and then output the next command. A preliminary decision flowchart that a robot can make is modeled here:

```mermaid
{{<mermaid>}}
graph
a1[Scanning for change in board state]
p1[Virtual Human]
Expand All @@ -128,7 +129,7 @@ graph
p1 -- Next move --> a3
p2 -- Next move --> a3
a3 --> a4 --> a1
```
{{</mermaid>}}

To implement the behavior planner, a Finite State Machine (FSM) and/or a Behavior Tree (BT) can be used, which both have tradeoffs in **modularity** and **reactivity**, ([read more](https://roboticseabass.com/2021/05/08/introduction-to-behavior-trees/), scroll to the last section for ).

Expand Down Expand Up @@ -161,13 +162,13 @@ Playing chess is more than just picking and placing pieces. The robot needs to a

We can do this using a computer vision techniques with an image of the current chessboard as an input and the FEN notation of to board as an output. The following diagram shows this visually:

```mermaid
{{<mermaid>}}
graph LR
a1[Real chessboard] --> a2[2D chessboard]
a2 --> a3[FEN Notation]
a3 --> a4[Chess Engine]
a2 --> a5[Virtual human player]
```
{{</mermaid>}}
Some external projects we plan to use to complete the above:
- [Real chessboard -> 2D chessboard](https://github.com/maciejczyzewski/neural-chessboard)
- [2D chessboard -> FEN Notation](https://github.com/Elucidation/tensorflow_chessbot)
Expand Down Expand Up @@ -360,4 +361,4 @@ TODO
- [Camera calibration ROS package]()

### Encoders
- [Arduino Encoder Package](https://www.arduino.cc/reference/en/libraries/encoder/)
- [Arduino Encoder Package](https://www.arduino.cc/reference/en/libraries/encoder/)
4 changes: 4 additions & 0 deletions layouts/shortcodes/mermaid.html
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@@ -0,0 +1,4 @@
<div class="mermaid">
{{.Inner}}
</div>
<script async src="https://unpkg.com/[email protected]/dist/mermaid.min.js"></script>