fixed speeds, stop distances for bfs
Updated wireless library binaries and headers.
Updated wireless documentation.
Major changes to wireless, but still more work to do.
Hooray, it seems to work better.
fiddling w/ run_around. i wrote a function that does move(0,0) and delays whenever transitioning between moving forwards and backwards. it calls wl_do() simultaneously, and wireless still appears to work.
reverted projects/template/ directory to pre-demo state. moved run_around demo code into behaviors/smart_run_around_fsm/ directory.
New stuff works, fixed bugs, removed malloc.
code commented and cleaned up. should work but untested.
Minor changes (maybe).
Fixed the issue with green and blue channels coming faintly on at startup. BOM led issues debugged (the JTAG fuse was incorrectly set). lbom now in working order.
Changed bom_init and bom_on so that only bom_init needs the type argument. At the moment trying to debug some strange issue where PC4 and PC5 do not turn off.
encoders work
Working on bayboard wireless
fixed LBOM code
More work on odometry code. (Really want to use floats but am avoiding temptation for now.)
Wrote some odometry code. I had the timers the way I wanted them a couple of days ago, but then subversion ate up my code. I have the right interrupt vector now though...
Maybe all of this nonsense will go away now?
Real subversion issues... this is the best I could do so far.
!
!!!
Changed bayboard makefile
added a bunch of TODO comments that will improve the style, efficiency, and possibly memory usage of the wireless library
trying to get lbom code to work
tweaked smart_run_around for recharging...from now on, it will be known as smart_walk/crawl_around. slowing everything down seems to make recharging much more stable. maybe demo-ready.
Apparently wireless init finishes, but still no actual evidence of communication. Makefile updated to show which output it makes
commented out DEBUG
added slowing feature to bfs as it approaches its target, and fixed some rangefinder distances.added code to allow for better transitioning to seek the final robot in a multiple robot scenario, but needs testing.
Tweaked vision and various colonet fixes
lbom library doesn't work
Got rid of old boundary and charge station after disconnect
Added a port for time.c, which is tested and works. Still working on the initialization routines to try to get wireless working.
This is the first attempt at porting the wireless library to the charge bay board. This mostly involved a lot of complicated #defines to change hardware interface. ROBOT and BAYBOARD should be defined when compiling, which currently I think is handled in the Makefile with -D arguments. This code does not work, still working on debugging.
This will be a test to run on the bay board to verify that the wireless token ring is functioning. At the moment the wireless library does not work, so neither does this.
Fixed server Makefile to include vision code
fixed hanging issues in stop.c, should work now NEEDS TESTINGupdated to newer version of i2c.c
Added structure to send charge commands; need to implement robot side
Code cleanup; added class for constant defs; click-in-boundary checking
merged lemmings
added some TODOs to be addressed
Updated command to clear virtual wall; also fixed minor code error
replaced smart_run_around with demo version from trunk. works much better now.
recompiled library - orb_init was called twice by dragonfly init. template folder contains run around demo code (to be restored post-demo). the ords appear to work (at least for demo).
minor changes to autonomous recharging on the dragonfly. still experiencing problems with run around.
reads first byte of left encoder correctly, still can't get second byte
Merged already.
Moved needed files into the trunk already.
Not used anymore.
Isn't used anymore. Getting rid of it.
Deleted deprecated charge_station_isp branch. All work is done in autonomous_recharging branch now.
Added joystick slave code
ignore this
disabled debug printout in colonet_dragonfly
Joystick control works using xbee_putc
Added colonet functionality, remote control driver
added possibility of global client write
reorganized colonet robot code significantly; virtual walls basically work
Adjusted webcam loading
bfs for multiple seekers works as long as they all have line of sight. bfs without line of sight needs work in the transition from the followed robot to the target robot.
encoder: added data array buffer and accumulators
Fixed a bug in encoders.
asdf
Wrote encoders.c and encoders.h Would GREATLY appreciate it if someone could check if I got the receive function correct. There was a lot of bit twiddling. Useful functions still need to be written, however receiving raw encoder readings should work (not tested... so don't bet on it)
deleted orbit branch
merged orbit branch (orbit, bfs) with trunk
Bug fixes, code organization
Boundary seems to work in applet and send coordinates
orb library should workcode format is correct with _BV()
Updated port of wireless library to bay boards.
Updated boundary code, need to implement scaling
Added charging station's i2c_auto code in so that we can do plug and play i2c. Filled in the function prototypes and commented what each funtion should do.
Added more boundary code. Need to test.
Added some boundary code
it is having problems after the first charge where it gets stuck and stops sending anything
minor changes related to virtual wall
virtual wall reported to robots
stop.c actually does what the folder title impliesIt only looks at the homing data and the contact stuff and sends it to the robot
Added virtual wall support in server
red works?
plz work now red
Set color(int) is better now
added some more documentation
Added the bayboard library
defining pretty colors
pretty colors defining
trying to fix red
Added everything necessary to make the bay bootloader. The bayboardBOOT.c was modified from the ATmegaBOOT.c in the old repository. I took out all of the #ifdef crap that dealt with other processors and products.
The bay board library now compiles, usb communication has been verified. Next commit I will add the source, makefile, and hex for the bootloader. The main.c in charging_bay/main.c now has something I'm working on to be able to switch to bootloader by pushing the button
working on robot point and click - kinda works
Continuing to flesh out bayboard library
Client saves homing data for move-to-point
Wireless commands to request charge and to depart station now work (don't know what was wrong). Demo is possible...just need charge boards to work.
Changed move-to-point colonet behavior. Need to test.
Copied reset and serial code from dragonfly, have not modified it yet
added more comments
a first stab at lbom and orb libraries for the new charge bay. it all needs testing.