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fixes #570 avrdude port detection
Changed the robot dir to drive and added a dir to work on autonomous mapping
updated robot and server code to use odometry. having problems with theta because it is a double (4 bytes on robot, 8 bytes on server)
robot_main.c sends the raw sensor data for mapping points to USB. Commented out is untested code to send it over wireless and utilize the (deprecated?) odometry functions.
Cleaning up, trying to be safe.
Maybe all of this nonsense will go away now?