changes of wednesday 18 nov
Updated all makefiles. You may need to update the port settings to get your project to program the robots again.
Fixed Makefile for circle_spacing behavior. Now links to the repository library.
Submitting circle spacing code. Will evenly place the robot on the circle.
Adding folder for circle spacing code. Behavior should attempt to space robots equally on a given radius of a circle around a central robot.
Circle Formation: added wireless and updated
Converted Circle formation to a state machine
Changed Push-Pull to display BOM histogram as well as net IR BOM vector. Changed BOM Tracker to print an x,y pair separated by a comma so the data can be saved and read in by MATLAB for analysis.
Edited BOM Tracker project Makefile to make correctly. Removed old test file for net IR BOM vector from behaviors folder. Cleaning up Push-Pull behavior to remove code which was moved into BOM library.
Merged new BOM vector functions into the trunk and did a "make dist" to recompile the library. Also brought over C file used to test new BOM function behavior.
Recompiled library to incorporate new BOM histogram print function. Push-Pull behavior currently prints the BOM intensity histogram and the resultant vector over USB.
Added comments to circle formation code
Updated circle formation behavior
Updated BOM Vector Component Table calculator to round towards 0 instead of rounding towards -infinity. This makes vector components symmetric around 0 and within error bound calculations.
Remove template "main.c" file. Appropriate Circle behavior code can be found in "circle.c" file.
Edited BOM Vector Component Tables with values which will gaurantee that worst case net vector sum will not overflow an integer data type (16 bits). Also changed Makefile to have TARGET=push_pull. Also added functionality to MATLAB script so that it will automatically calculate the BOM Vector ...
Renamed Push-Pull behavior code file to "push_pull.c"
Implementing function to calculate get_bom_vector() function. Added MATLAB script to assist in calculating the scalar value used to scale up the BOM unit vectors such that the worst case sum will not overflow an int data type.
Cleaned up the Circle behavior folder in the "formation_control" folder. Now compiles correctly with the current version of the repository library.
Making bom_get_vector() function which should eventually be placed into the library.
Added folder for basic Circle formation.Also included is the beacon robot code.
Could use some cleaning as it uses the lab 2 template as a base.
What it does: very basic Circle formation without much error checking.
Updated comments to correctly reflect the meaning of the x and y coordinates.
Progress on Push-Pull. Added a divide-by-zero check. Also fixed an error (added code to clear accumulators each time through the loop).
Wrote Push-Pull behavior to print the net BOM intensity vector over serial.
Creating directory for "Push/Pull" formation behavior.
Creating repository space for Formation Control.