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# Date Author Comment
677 04/04/2008 10:54 PM James Kong

encoder: added data array buffer and accumulators

676 04/04/2008 09:07 PM Justin Scheiner

Fixed a bug in encoders.

675 04/04/2008 08:46 PM Justin Scheiner

asdf

674 04/04/2008 07:43 PM Justin Scheiner

Wrote encoders.c and encoders.h Would GREATLY appreciate it if someone could check if I got the receive function correct. There was a lot of bit twiddling. Useful
functions still need to be written, however receiving raw encoder readings should work (not tested... so don't bet on it)

673 04/04/2008 04:29 PM David Schultz

deleted orbit branch

669 04/01/2008 07:51 PM Evan Mullinix

orb library should work
code format is correct with _BV()

668 04/01/2008 06:17 PM Brian Coltin

Updated port of wireless library to bay boards.

663 03/31/2008 10:08 PM Brad Neuman

it is having problems after the first charge where it gets stuck and stops sending anything

660 03/31/2008 09:14 PM Brad Neuman

stop.c actually does what the folder title implies
It only looks at the homing data and the contact stuff and sends it to the robot

658 03/31/2008 08:24 PM Evan Mullinix

red works?

657 03/31/2008 08:19 PM Evan Mullinix

plz work now red

656 03/31/2008 07:55 PM Evan Mullinix

Set color(int) is better now

654 03/31/2008 07:38 PM Austin Buchan

Added the bayboard library

653 03/31/2008 07:36 PM Evan Mullinix

defining pretty colors

652 03/31/2008 07:36 PM Evan Mullinix

pretty colors defining

651 03/31/2008 07:04 PM Evan Mullinix

trying to fix red

650 03/28/2008 10:30 PM Austin Buchan

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.

649 03/28/2008 10:28 PM Austin Buchan

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

647 03/28/2008 07:19 PM Austin Buchan

Continuing to flesh out bayboard library

645 03/27/2008 01:11 AM Chris Mar

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.

643 03/25/2008 10:49 PM Austin Buchan

Copied reset and serial code from dragonfly, have not modified it yet

641 03/25/2008 07:52 PM Evan Mullinix

a first stab at lbom and orb libraries for the new charge bay. it all needs testing.

639 03/25/2008 06:44 PM Austin Buchan

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

630 03/24/2008 08:07 PM David Schultz

synchronized speeds between modules.
1 full seek and orbit test completed.
stability still an issue.

628 03/21/2008 07:42 PM Kevin Woo

Testing out deleting branches. i2c works and this branch is no longer
needs to be used.

626 03/21/2008 07:25 PM Kevin Woo

Created the i2cplugnplay project and copied important files over. Will
flesh out the API and figure out everything later.

619 03/20/2008 06:52 PM Ben Poole

encoders might work now

615 03/17/2008 09:16 PM David Schultz

It worked in initial trials without the orbit code, and worked a couple of times after the addition of the orbit code. Still not stable though.

614 03/17/2008 08:43 PM Brad Neuman

ran two tests with the same battery, same conditions, different inductor.
The numbers are looking somewhat iffy, but workable.

610 03/03/2008 10:49 PM Brad Neuman

no explosions! removed hack from ConstantCharging.c and ran a test w/ the medium inductor, no freq hack, and saved it in data

599 02/25/2008 07:49 PM Justin Scheiner

General work on SLAM

597 02/25/2008 07:01 PM Kevin Woo

Added the magnetic encoder datasheet.

595 02/21/2008 12:19 AM Austin Buchan

Fixed some logical and typo errors in documentation

594 02/21/2008 12:14 AM Austin Buchan

The changes in bom and dragonfly_lib are the result of me and James rehashing the bom driver code. This now includes the updated analog reading, and control of the BOM1.5's emitter selection capability. The emitter selection has been verified, but I had to change the way reading the detectors works, so that needs to be re-tested for BOM and BOM1.5

593 02/20/2008 10:32 PM Chris Mar

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").

592 02/20/2008 09:18 PM Brad Neuman

bigger inductor seems to not work without the freq hack

591 02/20/2008 07:54 PM David Schultz

BFS worked in 2 out of many trials with 2 robots. However, it dropped wireless a lot and changes states more than it should.

584 02/18/2008 10:10 PM Brad Neuman

added a define value for the change in direction used by the fsm.
code worked in my trail w/ robot 1 as the decoy, robo 7 as the driver

583 02/18/2008 09:34 PM ibrin

finished my lights driver, but it doesn't work; it turns the lights on to one color, and they stay that way, no matter what.

582 02/18/2008 09:12 PM David Schultz

bfs_fsm without the orbit behavior at the end

580 02/18/2008 08:43 PM Victor Marmol

Updated bom.c and bom.h to implement James' changes for BOM1.5

578 02/18/2008 07:36 PM John Sexton
577 02/18/2008 07:34 PM David Schultz

orbit code

573 02/18/2008 01:30 PM Ben Poole

potentially functional SPI driver, will test tonight

572 02/18/2008 01:19 PM Ben Poole

more broken code

565 02/13/2008 06:52 PM Kevin Woo

More testing. Transmission is messed up.

564 02/13/2008 02:58 PM Kevin Woo

Read the datasheet again and I think we had things out of order.
Reversed the order but didn't test yet.

554 02/12/2008 01:16 PM John Sexton

Recopied original template file that didn't have experiments in it.

553 02/12/2008 01:09 PM John Sexton

Branch Clean-up.

552 02/12/2008 11:23 AM John Sexton

Creation of branch for work with new charge stations.

551 02/12/2008 11:06 AM John Sexton

Cleaning up accidental branch.

547 02/11/2008 10:17 PM Brad Neuman

EXPLOSION! aka the boards are now testable and hopefully won't explode next time.
ConstantCharging.c currently has the frequency hack
the two data files are real battery tests

546 02/11/2008 09:53 PM Kevin Woo

Modified spi.c/h. Sends 1 packet before failing. Funny light blinking
thing happens when sending, no idea where that came from. It looks like
the orbs are used as transmit lights but there's no code for that as far
as I know.

544 02/11/2008 09:23 PM ibrin

worked on lights driver, set up everything except a sort and a time-split calculating method

543 02/11/2008 09:20 PM ibrin

Lights branch

541 02/11/2008 09:03 PM Justin Scheiner

Further work on SLAM...

540 02/11/2008 09:01 PM Rich Hong

battery code now works

538 02/11/2008 08:58 PM Brian Coltin

Non-working update to wireless, sending separate packet for passing the token.

536 02/11/2008 08:45 PM David Schultz

removed any conflict with other fsm variables.
added tentative orbit stop, which needs encoders to be accurate.

530 02/11/2008 07:38 PM Rich Hong

change battery() to battery8()

529 02/11/2008 07:12 PM John Sexton

made a copy

528 02/11/2008 07:09 PM Brian Coltin

Created a branch for wireless development.

525 02/11/2008 03:58 PM Justin Scheiner

Did some slam work, trying to get together a good statistical way of reading range values.
There will be experimenting.... boring horrible experimenting

498 02/07/2008 05:05 PM Andrew Yeager

made a copy

496 02/06/2008 08:22 PM David Schultz

added orbit fsm

495 02/06/2008 08:21 PM Kevin Woo

Modified the spi module a bit. Didn't test it but this might be better.
Need to talk to Ben about it.

Started the encoders file. Nothing in there because I don't have a
stable SPI interface to work with yet.

494 02/06/2008 08:20 PM David Schultz

made orbit branch

493 02/06/2008 08:19 PM David Schultz
492 02/06/2008 08:16 PM David Schultz

create orbit branch folder

490 02/06/2008 07:21 PM Ben Poole

slave -> master kind of works

446 02/04/2008 09:02 PM Ben Poole

SPI test code update

442 02/04/2008 08:22 PM Chris Mar

wrote wrapper functions for new BOM code. also added compiler warning (for deprecated functions) to bom.h. it will show up whenever something that includes bom.h is compiled. have yet to merge new BOM code.

434 02/04/2008 07:53 PM Rich Hong

update assigning bay based on battery reading (seeking robot), also fix some bugs

413 01/30/2008 08:55 PM Chris Mar

tested/fixed new BOM code. bom_refresh() did not use the lookup table before calling analog_get8(). but now it works. run main in template directory to see new BOM buffer compared to old get_max_bom() values.

411 01/29/2008 10:21 PM Justin Scheiner

Laid out what I think will be the structure of SLAM for colony. This is an interesting project, and I think my strategy is a good one. It's laid out in the file server_main.c so read it if you're interested. I threw together the bare bones, but I realized that I might need to change my data_request code so that the order of packet arrival doesn't matter.

410 01/29/2008 09:04 PM Brad Neuman

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!

403 01/29/2008 07:47 PM Brad Neuman

I2C works! and by works i mean it sends some stuff and then crashes Tera Term

398 01/29/2008 07:09 PM Justin Scheiner

Commented a bit, just getting ready to start SLAM work in earnest.

395 01/29/2008 06:55 PM Justin Scheiner

Added the data response code to the slam project folder

394 01/29/2008 06:53 PM Justin Scheiner

Cleaned up to begin anew with the new data response code.

393 01/29/2008 06:52 PM Justin Scheiner

Fixed the BOM response code, needs to be tested.

383 01/28/2008 09:40 PM Brad Neuman

IT WORKS! i cleared portb. oops.....

369 01/23/2008 10:01 PM Austin Buchan

First crack at BOMv1.5 driver code. Pindefs are correct and the existing functions still work. At the moment the main function controls the clock and data of the rbom so you can shift things around. TODO: get bom_set_emitters working to correctly shift 16 bits around. Eventually this will have to be merged with the new bom code that James wrote, probably manually.

367 01/23/2008 09:18 PM Kevin Woo

SPI Master->Slave works. Slave->Master not working yet. /template/main.c has the test bench. Yay!

366 01/22/2008 09:39 PM Justin Scheiner

The lib things were just because of a few recompilations.
Data requests project works for IR, the problems with IR were almost definitely the problems with the others (encoder / BOM data).
I'll fix the code for those next time, and then begin work on encoders....

365 01/22/2008 08:43 PM Austin Buchan

made a copy

364 01/22/2008 08:42 PM Austin Buchan

who knows?

363 01/22/2008 08:42 PM Rich Hong

Add battery stuff to charging station

362 01/22/2008 08:38 PM Austin Buchan

deleting rbom branch since it was done wrong the first time

361 01/22/2008 08:02 PM Evan Mullinix

added constant for battery packets

360 01/22/2008 08:01 PM Evan Mullinix

added battery level request handling and sending

359 01/22/2008 07:58 PM Austin Buchan

Branching for BOM v1.5 testing

356 01/22/2008 07:33 PM Brad Neuman

forgot the Makefile

355 01/22/2008 07:29 PM Brad Neuman

working on getting I2C working. its not.

350 01/21/2008 09:23 PM Kevin Woo

Changed formatting so that it isn't as messy. Probably won't compile.
Still probably doesn't work.

340 12/15/2007 03:51 PM Brian Coltin

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.

337 12/15/2007 03:02 PM Brian Coltin

Minor updates to recharging, but the charging board no longer appears to tell us when we're done.

335 12/12/2007 10:46 PM James Kong

Rewrote bom.c and bom.h for the new analog8 code and for compatibility with bom 1.5 and
rbom. BOM values are now buffered and updating them will require a call to bom_refresh.
Old bom function calls have been left for backwards compatibility, but are now ...

332 12/12/2007 07:06 PM Evan Mullinix
331 12/12/2007 07:04 PM Chris Mar

rangefinders work w/ buffer.
new function names:
- analog8() = use buffer
- analog_get8() = direct