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# Date Author Comment
766 05/02/2008 12:48 AM Brad Neuman

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?

762 05/01/2008 06:06 PM Brad Neuman

made some fixes to robot debug. Also added the current regulation to Charging.c, which seems to work!

759 05/01/2008 04:28 AM Chris Mar

fiddled with run around, filmed some demos. i have yet to make videos...i need to look that up

754 04/30/2008 02:08 AM Brad Neuman

added a comment

753 04/30/2008 02:00 AM Brad Neuman

it basically works! It calibrates the motors then drives in a mostly straight line

752 04/30/2008 01:23 AM Brad Neuman

fixed lost of bugs in the libraries for spi and encoder

751 04/30/2008 01:04 AM Brad Neuman

encoders.c works! there is a ton of debug output but I want to get the commit in before I am to tired and do something dumb.

749 04/28/2008 10:00 PM Brad Neuman

added another function pointer to encoders which gets called after all bytes are recv'd.
working on a behavior to drive in a straight line, but encoders are giving invalid on robot 5

748 04/28/2008 08:48 PM Victor Marmol

Added skeleton for the bay board's behavior

743 04/28/2008 08:17 PM Brian Coltin

Fixed compilation errors.

742 04/28/2008 08:14 PM Austin Buchan
735 04/25/2008 08:14 PM Brian Coltin

Hooray, it seems to work better.

734 04/23/2008 10:19 PM Chris Mar

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.

732 04/23/2008 04:08 PM Brian Coltin

New stuff works, fixed bugs, removed malloc.

731 04/23/2008 10:56 AM Ben Poole

code commented and cleaned up. should work but untested.

729 04/22/2008 11:10 PM Austin Buchan

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.

728 04/22/2008 08:51 PM Austin Buchan

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.

727 04/22/2008 06:36 PM Ben Poole

encoders work

726 04/21/2008 09:41 PM Greg Tress

Working on bayboard wireless

725 04/21/2008 09:26 PM Greg Tress

fixed LBOM code

718 04/16/2008 11:02 PM Greg Tress

Changed bayboard makefile

716 04/15/2008 07:23 PM Evan Mullinix

trying to get lbom code to work

715 04/14/2008 11:07 PM Chris Mar

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.

714 04/14/2008 09:55 PM Austin Buchan

Apparently wireless init finishes, but still no actual evidence of communication. Makefile updated to show which output it makes

713 04/14/2008 09:53 PM Austin Buchan

commented out DEBUG

709 04/14/2008 08:45 PM Evan Mullinix

lbom library doesn't work

707 04/14/2008 05:52 PM Austin Buchan

Added a port for time.c, which is tested and works. Still working on the initialization routines to try to get wireless working.

706 04/14/2008 05:51 PM Austin Buchan

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.

705 04/14/2008 05:49 PM Austin Buchan

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.

703 04/14/2008 03:51 PM Brad Neuman

fixed hanging issues in stop.c, should work now NEEDS TESTING
updated to newer version of i2c.c

700 04/12/2008 06:15 PM David Schultz

merged lemmings

697 04/09/2008 09:16 PM Chris Mar

replaced smart_run_around with demo version from trunk. works much better now.

695 04/09/2008 09:09 PM Chris Mar

minor changes to autonomous recharging on the dragonfly. still experiencing problems with run around.

694 04/09/2008 07:34 PM Ben Poole

reads first byte of left encoder correctly, still can't get second byte

693 04/09/2008 06:58 PM Kevin Woo

Merged already.

692 04/09/2008 06:57 PM Kevin Woo

Moved needed files into the trunk already.

691 04/09/2008 06:54 PM Kevin Woo

Not used anymore.

690 04/09/2008 05:21 PM Kevin Woo

Not used anymore.

689 04/09/2008 05:21 PM Kevin Woo

Isn't used anymore. Getting rid of it.

688 04/09/2008 05:18 PM Kevin Woo

Deleted deprecated charge_station_isp branch. All work is done in
autonomous_recharging branch now.

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


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()