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The graphical interface

The graphical interface provides a real-time view of the robot and the robot's environment, using data obtained from the simulator (figure ). It consists of a 2D display showing a bird's eye view of the room, the objects, and the robot in it, a sensors and actuators monitor display, and a 3D perspective display that shows the environment from the robot's point of view (not shown in figure ). The graphical interface also contains a control panel display which provides manual control over the robot's movements and maneuvers. A movement command for a robot is composed by the user by selecting power levels and directions of rotation for each of the two wheels. A maneuver is a higher-level instruction for the robot. Initially, it can be one of 1) find a block, 2) approach a block, 3) touch a block, 4) push a block, 5) unwedge a block, and 6) retrieve a block. Blocks can be referenced by color (not necessarily unique) or by a numeric identifier. The control panel also allows the robot's signal light to be switched on or off.