added I term to current control, had weird issues with battery #4 where the current reading dops down to 26 for some reason. After this happens, unloaded voltage on bat (through multimeter) reads >6, even though it seemed discharged before. I am doubting it was fully discharged, maybe the 5 minutes actually forced too much current in?
made some fixes to robot debug. Also added the current regulation to Charging.c, which seems to work!
fiddled with run around, filmed some demos. i have yet to make videos...i need to look that up
Fixed compilation errors.
fiddling w/ run_around. i wrote a function that does move(0,0) and delays whenever transitioning between moving forwards and backwards. it calls wl_do() simultaneously, and wireless still appears to work.
tweaked smart_run_around for recharging...from now on, it will be known as smart_walk/crawl_around. slowing everything down seems to make recharging much more stable. maybe demo-ready.
fixed hanging issues in stop.c, should work now NEEDS TESTINGupdated to newer version of i2c.c
replaced smart_run_around with demo version from trunk. works much better now.
minor changes to autonomous recharging on the dragonfly. still experiencing problems with run around.
it is having problems after the first charge where it gets stuck and stops sending anything
stop.c actually does what the folder title impliesIt only looks at the homing data and the contact stuff and sends it to the robot
Wireless commands to request charge and to depart station now work (don't know what was wrong). Demo is possible...just need charge boards to work.
no explosions! removed hack from ConstantCharging.c and ran a test w/ the medium inductor, no freq hack, and saved it in data
turned down speed on smart_run_around...recharging seemed to work better (very subjective, I admit). cannot attempt demo video until wireless issues are figured out (i.e. wireless "button press").
bigger inductor seems to not work without the freq hack
EXPLOSION! aka the boards are now testable and hopefully won't explode next time.ConstantCharging.c currently has the frequency hackthe two data files are real battery tests
battery code now works
change battery() to battery8()
update assigning bay based on battery reading (seeking robot), also fix some bugs
works for real this time! I haven't tried actually running a current through the board, but without that it shows proper debug values and Robot Debug/main.c formats them nicely!
I2C works! and by works i mean it sends some stuff and then crashes Tera Term
IT WORKS! i cleared portb. oops.....
Add battery stuff to charging station
added constant for battery packets
added battery level request handling and sending
forgot the Makefile
working on getting I2C working. its not.
We're ready to do a two robot autonomous recharging video with run around, aside from some docking problems. There seem to be wireless issues with three robots, however.
Minor updates to recharging, but the charging board no longer appears to tell us when we're done.
Recharging still doesn't work with analog - analog not giving correct values.
fixed robot debug part
PWM hack works in that it increases frequency. I2C breaks everything. Added robot debug code which will just print everything it gets from i2c... hopefully
First attempt at the frequency hackNOT TESTED ON THE BOARD!
Updated recharging code.
Somewhat working version of recharging.
Recharging updated.
added more battery detection code (currently commented out for demo purposes)...also uses rangefinders for departing.
Addition of charging detection. (Miriam)
Recharging now works, wireless has been updated.
cleaned up seeking, moved homing sensor code to homing.c/h (tested successfully)
More progress on charging... Sometimes the token ring drops out.
Updated recharing, software somewhat works.
Fixed problems with motors, error in charging station delay_ms for BOM.
Seems to work until we get to seeking, where there may be issues with the motors.
Updated recharging code for the robot, it actually runs, trying to fix problem with orbs in debugging mode.
Recharging code for the robots now compiles. It is entirely untested.
Did more work on autonomous recharging for the robot.
Added new charging station code to charging station branch, it now compiles.
Moved charging station to autonomus_recharging branch.
Removed charging station directory.
Added new recharge code to autonomous_recharging/dragonfly
BRANCH autonomous_recharging branch created
added charging_station and dragonfly folders to autonomous_recharging
I think I sort of merged in the auto echarge daughter board code
"merged" frm the branch
added autonomous_recharging and scheduler folders to projects