Colony

Status Updates: 01/29/10¶

• SURG - Formation Control - Nico, Steve, Alex, Joel, Dev, Reva, Echo
  • Integrating circle code with equal spacing code
    • Compiles, needs testing
    • Dealing with disconnects between code
    • Will meet on Monday to figure it out
• Library/Wireless Clean-up - David, Chris, James, Brad, Evan, Ben W, Abe
  • Need help debugging XBee problems
    • Chris will investigate interrupt problem (why is it not executing?)
  • Update Doxygen and put on website
    • Find out why this doesn't work from Kevin or Rich
• Filter Design - Emily, Austin
  • Limit unnecessary computation
    • Save last 10 or so values and only calculate rangefinder value when needed
      • eliminates need for scheduler (ignore below)
  • Scheduler - Austin, Justin
    • Use for filter to poll at specific interval
    • current:
      • 16 times/sec, check for other tasks, context switch if necessary
      • static stack allocation, adapted from 18348 code
      • find in .../projects/scheduler/
      • look for example/starter program
• Rangefinders Fitting - Brad, Ben P
  • Attempt to make a linear function to correct rangefinder values instead of just an offset
  • Need to get more data - help from Megan
    • A few runs with a single robot (need the same sensors over time)
    • Make sure it's repeatable
• Rangefinders - Megan
  • Problems with several robots
  • Austin will look
• Colony Compass - James
  • Would be useful for formation control
  • We may have money to throw at this
• Analog - James, Evan
  • Sync up with scheduler
  • Just run ADC on demand analog reads. it will be really fast.
  • Testing the code now.
  • Make it work, then clean up the old code.