updated recharging code for the dragonfly. added doxygen comments. should be merged to trunk soon.
fixed test code
added basic test code for the archs board
Updated bay board wireless library... Doesn't work at all.
add comments for battery prioritization
main testing file
for testing the lbom on the charge bays
for orb sanity checks
for library sanity checks
Made recharge test more user-friendly
removed cli() and sei() from computer compilation
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
Added skeleton for the bay board's behavior
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.
Fixed the issue with green and blue channels coming faintly on at startup. BOM led issues debugged (the JTAG fuse was incorrectly set). lbom now in working order.
Changed bom_init and bom_on so that only bom_init needs the type argument. At the moment trying to debug some strange issue where PC4 and PC5 do not turn off.
Working on bayboard wireless
fixed LBOM code
Changed bayboard makefile
trying to get lbom code 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.
Apparently wireless init finishes, but still no actual evidence of communication. Makefile updated to show which output it makes
commented out DEBUG
lbom library doesn't work
Added a port for time.c, which is tested and works. Still working on the initialization routines to try to get wireless working.
This is the first attempt at porting the wireless library to the charge bay board. This mostly involved a lot of complicated #defines to change hardware interface. ROBOT and BAYBOARD should be defined when compiling, which currently I think is handled in the Makefile with -D arguments. This code does not work, still working on debugging.
This will be a test to run on the bay board to verify that the wireless token ring is functioning. At the moment the wireless library does not work, so neither does this.
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.
orb library should workcode format is correct with _BV()
Updated port of wireless library to bay boards.
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
plz work now red
Set color(int) is better now
Added the bayboard library
defining pretty colors
pretty colors defining
trying to fix red
Added everything necessary to make the bay bootloader. The bayboardBOOT.c was modified from the ATmegaBOOT.c in the old repository. I took out all of the #ifdef crap that dealt with other processors and products.
The bay board library now compiles, usb communication has been verified. Next commit I will add the source, makefile, and hex for the bootloader. The main.c in charging_bay/main.c now has something I'm working on to be able to switch to bootloader by pushing the button
Continuing to flesh out bayboard library
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.
Copied reset and serial code from dragonfly, have not modified it yet
a first stab at lbom and orb libraries for the new charge bay. it all needs testing.
Added folder libbayboard and charging_bay. libbayboard is to hold the bay board library, charging_bay will hold the main code that actually goes on the bay board
ran two tests with the same battery, same conditions, different inductor.The numbers are looking somewhat iffy, but workable.
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.
Copied new analog code into recharging branch.
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.
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