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
    • Feedback
      • blocking version of reliable send
        • figure out how to tell user that their packets were lost
  • 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
  • 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?