updated linefollowing for new line sensors
ifdef'ed main-intersectionTest.c so it won't be found by gcc when compiling. Hopefully this won't break anything.
Some bugfixes for collision avoidance.
removed shell script
added spec for proposed robustness improvement of intersection handling
Adding specs
Vinay added data for the intersection and roads for the barcode table. Compiles.
Renamed arduino file name. Python script can read from both robot and arduino at the same time.
fixed ??? trunk
Used template file instead of cicles file to start cal_sta_robot.c. Removed .h file. Figured out baud rates for arduino and robot. Python script can read from both sources.
forgot to uncomment some things in update_linefollow.pl
more general script for updating linefollowing code into traffic_navigation
added a init script in traffic_navigation
Copied over files for robot code to Calibration Station folder. Renamed files to more appropriately describe what the files should do.
improved read_line to reduce delay
Fixed line following readings, addded 1ms delay to fix the mux.
Made the serial output of line sensor values print in order and documented it on the top of main.
Added Dan's line following code
Added whitespace for clarity
Changed Makefile to automatically pick AVRDUDE_PORT for all 3 major platforms.
Added a statusbot project to help me debug the demo by seeing what the bots are thinking.
Added main-intersectionTest.c for testing intersection code without messing with main.c.
Added server-side python script and started to develop serial communication with Arduino. Changed Arduino code a little to facilitate development of server-side python code.
Created folders for station code and for server code. Moved arduino code into station folder.
Added folder for Calibration Platform.
Attempting to use rtc to do full left turns - not working at the moment, but does something.
Demo now MOSTLY WORKS. Yay. It just has trouble making turns and for some reason (which may be hardware caused) switches into intersection mode without a button press. It also needs barcodes. In order to run the demo, turn it on, press button 1 to make it stop at an intersection, and when it exits an intersection, press button 1 to make it go into highway mode, or button 2 to make it go into road mode. Highway mode only sometimes works, but not often.
Made compatibility of lineDrive.h and validTurns.h.
Redefinitions.
Updating some documentation for lineFollow
Included barcode reader value means, standard deviations, histograms for various materials including printer paper, lined white paper, poster paper (non gloss), duct tape, black electric tape, and black masking tape. Have yet to include glossy poster paper.
reorganized stuff in intersectData. made new function getTurningIntersectthat can be used to input directly into dan's code. made new functions to getinformation about road nodes stored int he intersection database. eventually should convert it to the node database.
Bickles stopped working after revision 1906, so I tested it and changedstuff in main so that it works.
Added a function getTurnIntType(), which converts the intersection types into something usable by the turning code. Updated main to use it
Changed the randomNumGen so that it stopps reading IR and does stuff with a seed. More random? Maybe.
populated the database for the demo.
Added a "feature id" field in bits 13,14,15,16 of the database ints, documented accordingly
Edited the .h and .c file so that global variables can be seen by other files with the .h file is included.
Updated main to work for the demo. It now switches states properly, but button1 seems to trigger accidentally sometimes (but strangely consistently at the same point in the program). Also edited the random turn generator to use the rtc instead of a rangefinder for the seed.
now it really works, for real this time!
Merging works
More bugfixes (holy crap I'm bad at this)
More bug fixes, and most importantly,Documentation about how to call the functions.
Changed main and validTurns to get the test going. Should theoretically drive through the cloverleaf, switching between road and intersection mode, but has trouble following the line and keeps reading phantom barcodes.
More bug fixes for collision_avoid
Fixed directions and array indexes to match.
Added todo list to collision_avoid.c (i forgot to do this, sorry for the extra message!)(HAI!)
First commit of the Collision Avoid Code. It probably doesn't work as-is.This code is supposed to detect when multiple robots can cross an intersection at the same time.
Authors:-Alexander Lam-Willis Chang
Merged highway code into main to test switching states between intersection and highway. Highway code doesn't behave as it should, but I may be calling it wrong. Switching states is currently based on button1, until bar codes get integrated. State switches are weird, and don't aways go into the correct state or wait for the button.
Did stuff, but its not complete yet
Updated main to include a break and highways.h to prototype files
Edited intersection behavior to break it into separate functions, and moved the #defines around.
forgot to add intersectData.c and .h
Tested and finished the database and the valid turns and everything!
database: files: intersectData.c and intersectData.h database is an array defined in .h that stores all intersections right now it is defined for our demo map. it has an intialize function that is unique for each map and all...
Changed index of INTERSECTION variables and got rid of getCrossPos andgetCrossType that are being implemented in the database.
Separated the intersection constants from the turning constants, updated fuctions accordingly.
added code that makes the makefile work again
random character in one of those files...and the other needed a 7 instead of a 3...=D
Merged the types of doubles into the crossing type. Also fixed commentsthat were never updated and implements things of type DOUBLE as DOUBLE_T'sif you dont specify because DOUBLE_T is more safe.
testing file for validTurns.c. Also documents how "barcode" (eventuallywill be the value from the table look up) is implemented/used.
tested validTurns.c and made it more compatible with the upcoming database.
Fixed some comments in linefollowing.c
added highways.h to the traffic_navigation.h file, made highways.c/h actually work for merging left. changed main.c to run the new highways.c code.
Worked on highways and object avoidance and now uses doDrive and not lineFollow
Cleaned up analog.c file. Removed the interrupt handler code and removed the "start analog loop" code from init function.
adding traffic_navigation.h
Uploaded traffic_navigation.h
Added code for pinging in intersections, but it currently doesn't work so its commented out. Intersections should work. Unfortunately some of Alex's doxygen code might be gone. Sorry.
GARS, source files aren't supposed to be executable. (now my ls output has the right colors!)
fixed priya's bugs, left her questionable sytlistic choices
see comments for validTurns.h
this is the actual code for the function validateTurn that takes a barcodeand returns an integer that corresponds to a valid turn.
header file for the function called when entering an intersection thatdetermines whether or not a turn is valid based on the intersection typeand position of the robot. Currently uses random number generators (i.e. rangefinders) to determine intersection type, position, and turn type.
Added comments (doxygen style) to linefollow and linedrive.
Completed adding ping capabilities for intersections. Code compiles, but untested on robots. Bots will ping each other in an intersection, and adapt if a bot disappears from the queue. Can only accept 1 robot disappearing at a time, unless vanishing robots aren't adjacent in the queue.
killed analog loop
Added function to reply to pings, and come calls to ping robots in the queue. Won't yet do anything to check if a bot disappeared, but it will compile.
removed old code
Added code to make it demo that the queue works. Mostly orbs and buttons, but some variables changed. Also started work on wireless reliability.
Updated line following code from line following project
minor bug fix, 2nd attempt
minor bug fix
lineFollow now supports merge. line drive is UNTESTED and has NO COMMENTS, but will provide higher level driving control
improved turning
Moved the old ref code to oldRef, and deleted the files from ref (the .old files).
Added turning
Added my RefBot code, and the hunter_prey.* files that it needs. Brad's old code is still existing in main.c.old, and the Makefile for it is in Makefile.old. The new RefBot runs on a robot, not a USB XBee.
Removed all the unnecessary files that get added when compiling in James' hunter prey directory.
added Carroll James' hunter prey corrected to bosserman's wireless specifications
Added james' hunter-prey folder.
Fixed the #include so it can find the linefollow header. This should be fixed so it can find the .h file in the proper directory. Also added lineFollow.c and lineFollow.h to this directory so main can find them. They will not be updated when the real copies update.
Updated linefollowing/barcode code.Makefile is configured to OSX to annoy Dan.
Added beginning of wireless protocol for traffic navigation, and added code for handling intersections, with the exception of that code that involves navigating the intersection (so just the code that deals with wireless, the intersection queue (as I see it), and deciding when to go).
Added the traffic_navigation directory to projects in trunk, and inserted my preliminary main function. As of now, it relies on the linefollowing code in the other project directory.
Some barcode code
Added line following
Added james and ben's hunter prey code.
implemented bad line following, which dan will make magical.
Working code that outputs orbs for the darker side
Updated unit tests (correctly this time)