Status Updates: 11/20/09¶
Weeks of 11/14/09 - 11/20/09
- ADC Prescalar Testing - Evan
- Graph of results
- Decide what prescalar to use (maybe none?)
- SURG - Formation Control - Nico
- Three formations: Circles, Secret Service, Dynamic Formations
- Using new IR lookup table to find circle radius - Echo, Steve, Joseph, Nico
- Also worked on wireless coordination between center and outer robots
- Naive orbit code used to equally space robots on circle - Joel
- looking at using vector code from John
- Work on merging Circles together
- Library/Wireless Clean-up - David, Chris, James, Brad, Evan, Ben, Abe
- New API (public functions) tentatively developed
- Controversy over some function names:
- wl_send_robot/wl_send_p2p - sends to a single robot
- wl_dispatch/wl_get_group - gets packets and sends them to packet group handlers
- Controversy over some function names:
- Feedback
- blocking version of reliable send
- figure out how to tell user that their packets were lost
- blocking version of reliable send
- New API (public functions) tentatively developed
- Filter Design - Emily
- Frequency Responses (Bode plots) obtained for averaging, exponential averaging, and butterworth
- Investigate Kalman Filter - done!
- Cool Bode plots
- tradeoffs to make for final filter choice (space, computation, delay, accuracy)
- Colony Scheduler - Justin
- Allows for periodic, interruptible code
- Need to free up timers
- Watch stack space
- BOM Tracker - John
- Used BOM IR vector functions to map location of other robots
- Rangefinders
- Merged new look-up table into Trunk - John
- Make EEPROM storage functions - Austin
- Determine offsets to use for each robot - Dan
- 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
- Start with a clear procedure
- Makefile Architecture Rewrite - Brad
- Makefile structure "Make"-over - David
- 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
- Init Refactor - Brad
- Created a branch to troubleshoot initialization function dependencies
- Will add debugging statements to the library to diagnose BOM issues
- Xbee baud settings, bandwidth - David
- Can now change baud rate correctly
- only tested for 9600 and 115200 baud rates
- the code needs to be cleaned up a bit, since it's scattered between serial and xbee
- 9600 baud sends at 2-3 kB/s
- 115200 baud sends at 14.6 kB/s
- Can now change baud rate correctly
- Controls Library - Austin
- Investigating the move library (velocity controls library)
- Get slides from George for presentation for Colony (or get George to do it?)
- Remove Analog Loop - James, Evan
- Change analog_get8 to return a INT8_T instead of an INT (we only need 8 bits, not 16)
- Password Practices
- make your Redmine and SVN password strong
- JTAG Debugger?