Status Updates: 11/13/09¶
Weeks of 11/07/09 - 11/13/09
- Subversion Walkthrough - James
- See Wiki -> Reference -> ReferenceSubversion for details
- Windows: install TortoiseSVN
- uses right-click context menu
- Linux, Mac: install Subversion (SVN)
- svn ** commands (use "svn help" for list)
- Windows: install TortoiseSVN
- key directories:
- /trunk/code/behaviors/template
- /trunk/code/behaviors/formation-control
- /trunk/code/projects/libdragonfly
- See Wiki -> Reference -> ReferenceSubversion for details
- SURG - Formation Control - Nico, Austin
- Three formations: Circles, Secret Service, Dynamic Formations
- See link for details
- Using Echo's code for Circles
- using beacon robot to form around
- rangefinders are noisy -> use center/beacon robot for wireless coordination
- John's Push-Pull
- coming along slowly
- Library/Wireless Clean-up - David, Chris, James, Brad, Evan, Ben, Abe
- Two modes (fast & reliable, like UDP & TCP)
- Automatic error checking, resending packets (look at what XBee provides for us)
- See link for more details
- Update wireless API and make available on website
- Two modes (fast & reliable, like UDP & TCP)
- Filter Design - Emily
- Results for constant data from rangefinders are in:
- Median filter performs the best
- Butterworth is completely unreliable for the first 10-ish cycles, but good after
- However, these results may not hold when the data is not constant
- For example, different filters miss peaks and valleys in the data
- Need to create more test data to determine which filters perform best when the data changes
- Meeting with George to develop more/better filter tests
- Results for constant data from rangefinders are in:
- Init Refactor - Brad
- Created a branch to troubleshoot initialization function dependencies
- Will add debugging statements to the library to diagnose BOM issues
- Add BOM Vector Function to Library - John
- Used in Push-Pull
- X-Y coordinate plane superimposed on BOM, use vector for velocity
- Susceptible to inconsistent detectors and IR noise b/c it relies on detected intensity
- Store per-detector offset/bias on robots
- Controls Library - Austin
- Generic PID control library on robot?
- Maybe just for velocity control of the motors
- Get slides from George for presentation for Colony (or get George to do it?)
- Generic PID control library on robot?
- ADC Prescalar Testing - Evan
- Once every 500ms at different (constant) voltage levels
- Constantly (stress test, see if heat introduces noise) at different voltage levels
- Constantly over extended period of time (5 minutes) at different voltage levels
- Varying input voltage over extended period of time (use function generator)
- Show results next week
- Remove Analog Loop - James, Evan
- Timer-based ADC Scheduling
- Change analog_get8 to return a UINT8 instead of an INT (we only need 8 bits, not 16)
- Rangefinders
- Merge new look-up table into Trunk - Dan
- Doesn't use bias yet -- Dan needs help with EEPROM
- Test newly installed rangefinders - Megan, Dan
- IR5 on Bot4 doesn't work, all others work
- Graphs coming soon
- Make tool to calculate offset of new IR sensors
- Merge new look-up table into Trunk - Dan
- Makefile Architecture Rewrite - David, Brad
- Re-architect Makefile structure in repository to use centralized model
- Auto-rebuild of library when changes are made to source files
- Option to force rebuild, if you think it's needed ("make library")
- Added "make debug" option in the init_refactor branch
- typing "make debug" will rebuild the library with debugging symbols
- These will activate a bunch of macros like DRAGONFLY_DEBUG_PRINTLN() which can be used to print debug messages nicely from the library