Driver Functions List¶
BOM¶
Rangefinders/Sonar¶
| function name | inputs | outputs | description |
| sonar_read | angle | distance | Returns the sonar reading in cm at a given angle |
| sonar_read_raw | sensor# | distance | Returns the sonar reading from a given sensor at current direction |
Tasks:¶
- write stepper code based on physical constraints
- write raw data to useful data conversion once we know what sonar outputs
- eventually implement struct to read both sides of sonar
- write code to actually interface with hardware
- test the example code to make sure it actually works
- write a filter to remove bad values
- write a function to take multiple sonar values at each position
- write a function to scan 180 degrees and return an array for sonar readings all around the robot
Accessories¶
Tasks:¶
- write generic function that reads data from I/O pins and send it to ARM
- write a function that detects if an accessory is present
- write function to detect type of accessory and setup I/O
- Must differentiate between smart and dumb accessories
- For dumb accessories AVR should poll and broadcast I/O based on user program
- Test and make sure code does not interfere with sonar polling/outputs
IMU¶
Tasks:¶
- Write function to read IMU data
- write a function that converts between raw data and useful data once we know what IMU outputs
- Write a filter to remove bad values
- Write a function to get estimated pose though comparison with previous values