first time
updated recharging code for the dragonfly. added doxygen comments. should be merged to trunk soon.
Recompiled the library.
Fixed a quick bug.
Some more lines in the print function
Fixed an error with error detection, added a print array function.
Apparently there are no internal variables
Testing again...
Oohhh it almost works now. Trying to get it into the correct folders when the documents are generated.
fixed test code
More testing...getting closer
Changed the code to KWoo's preference. Removed angry comment.
Minor style change - elseif's changed to a case :P
added basic test code for the archs board
Hopefully makes the file this time...write permisions???
Updated bay board wireless library... Doesn't work at all.
Testing documentation generation
add comments for battery prioritization
main testing file
for testing the lbom on the charge bays
fixed typo
for orb sanity checks
Contains a test case that lets you specify the pattern of LEDs on the BOM1.5 over serial
for library sanity checks
Deleted wl_dev and lights branches.
Deleted wl_dev branch.
Removing the scheduler branch as this is now being developed in the trunk.
Removing the charge_board branch as real development is in the trunk.
Commented some of the encoder functions.
having issues, thinking of giving up on velocity thing
control law for speed starting to work.WARNING: can't use delay_ms with encoders_init
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 a comment
it basically works! It calibrates the motors then drives in a mostly straight line
fixed lost of bugs in the libraries for spi and encoder
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.
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
Added skeleton for the bay board's behavior
Fixed compilation errors.
Hooray, it seems to work better.
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.
New stuff works, fixed bugs, removed malloc.
code commented and cleaned up. should work but untested.
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.
encoders work
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
merged lemmings
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.
reads first byte of left encoder correctly, still can't get second byte
Merged already.
Moved needed files into the trunk already.
Not used anymore.
Isn't used anymore. Getting rid of it.
Deleted deprecated charge_station_isp branch. All work is done in autonomous_recharging branch now.
encoder: added data array buffer and accumulators
Fixed a bug in encoders.
asdf
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)
deleted orbit branch
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
red works?
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.