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root / trunk / code / projects / mapping @ 1464

# Date Author Comment
1401 09/09/2009 05:06 PM Abraham Levkoy

Tested rangefinders to see if they are #define'd correctly. See data/rangefinder for details.

1390 09/07/2009 10:19 PM Rich Hong

fixes #570 avrdude port detection

1361 08/10/2009 12:37 PM Justin Scheiner

Made some small changes reading through the code, no mex file compiler at home so I might have broken it.. but probably not.

1265 05/02/2009 04:21 PM Abraham Levkoy

Added mapping data.

1234 04/30/2009 06:28 PM Abraham Levkoy

Put latest input.txt in matlab directory.

1233 04/30/2009 06:21 PM Abraham Levkoy

Smart run around FSM + mapping works!!! I don't know what I did.

1228 04/28/2009 05:37 PM Abraham Levkoy

Run around now uses R4 and R5.

1227 04/28/2009 05:18 PM Abraham Levkoy

Replaced old orb_enable() with new orb_init().

1225 04/27/2009 12:06 PM Justin Scheiner

Sorry for uploading such a big file, hopefully I removed this before it was on too many
computers.

1211 04/25/2009 10:11 PM Justin Scheiner

Changes to the sensor modeling code. (Mostly from a better understanding of imtransform).

1210 04/25/2009 10:10 PM Justin Scheiner

Fixes to the sensor mapping code. Works now! (Sort of)

1209 04/25/2009 09:30 PM Justin Scheiner

Movie. Wanted to have it here for transfer to my computer.

1201 04/25/2009 04:53 PM Abraham Levkoy

Changed smart run-around from old version to new version, which seems kind
of silly, since the rangefinder functions didn't actually change.

1200 04/25/2009 04:51 PM Abraham Levkoy

Smart run around produces more of a wall-following behavior at
this point. Rangefinder readings are clearly not in cm. I have assumed that they
give the distance in mm but 50 mm too large. I don't think this is correct,
but the robot does not crash, so I left. The states do what they are ...

1199 04/25/2009 03:23 AM Abraham Levkoy

Created new directory for development of new smart run around. Although this
makes no sense WRT the structure of the repository, it will allow autonomous
mapping to continue to function during the development of the new smart run
around while still keeping the new smart run around conveniently close to...

1162 04/21/2009 04:57 PM Abraham Levkoy

Replace smart_run_around_fsm.c with the one that simulator has been using, which apparently uses the new rangefinder interface.

1161 04/21/2009 04:21 PM Justin Scheiner

Some changes to match the updated library.

1149 04/17/2009 05:26 PM Justin Scheiner

Added some papers guiding the current approach, and commented some.

1148 04/17/2009 05:21 PM Justin Scheiner

Modified sensor_map to use 'model_sensor' to plug in a sensor model to map with. Model sensor is meant to be an array of sensor models, one for
distances from 10cm to 70cm.

1135 04/14/2009 12:46 AM Justin Scheiner

Committing some test files, as well as an updated version of the sensor mapping code.

1134 04/14/2009 12:29 AM Justin Scheiner

Added a heavily modified version of map.m called sensor_map, which first constructs a sensor model, then maps data according to the sensor model.
NEEDS to be converted to log-odds to speed up computation. There is still a transformation that needs to take place per datapoint per sensor, but ...

1127 04/09/2009 07:00 PM Abraham Levkoy

Put smart run around FSM in autonomous mapping program
Robot goes into BACKWARDS mode a few seconds after starting up and apparently cannot be diverted

1125 04/09/2009 06:20 PM Abraham Levkoy

made packet group and packet type for odometry packets separate #defines

1124 04/09/2009 06:10 PM Abraham Levkoy

got rid of old stuff for driving from the computer

1093 04/01/2009 07:10 PM Justin Scheiner

Cleaned up the code, someone help figure out the memory error!

1070 03/17/2009 02:28 AM Justin Scheiner

First attempt at a probability density mapper. Unifinished.

1066 03/03/2009 09:23 PM Abraham Levkoy

Changed the robot dir to drive and added a dir to work on autonomous mapping

1062 02/27/2009 05:18 PM Justin Scheiner

Small modifications to receive.c, corrected an error
in the ring buffer. Some commenting and cleaning.

1032 02/17/2009 08:46 PM Justin Scheiner

Having trouble with wireless (I think) hopefully this will work by friday.

1030 02/17/2009 08:28 PM Abraham Levkoy

tested a bunch of different environments for mapping

1029 02/17/2009 08:27 PM Abraham Levkoy

Switched wl_init and wl_set_com_port in test.c (again?)

1028 02/17/2009 07:46 PM Justin Scheiner

Changes all around. Matlab server is now passive, might work soon.

1018 02/11/2009 12:11 PM Abraham Levkoy

Added the data files for real this time

1017 02/10/2009 10:49 PM Abraham Levkoy

Ran some tests in different environments. Data is in 1, 2, 3.txt

1016 02/10/2009 08:00 PM Chris Mar

calls to wl_init() and wl_set_com_port() were inverted

1005 02/05/2009 10:06 PM Abraham Levkoy

test takes an argument for the USB port #, but it doesn't commit a
memory error like it did last time I committed

1004 02/05/2009 09:45 PM Abraham Levkoy

test now takes a second argument for the USB port number

980 01/28/2009 11:42 PM Chris Mar

sorry...didn't mean to commit odometry.c

979 01/28/2009 11:41 PM Chris Mar

minor changes to remote control / mapping code...wireless control works with libwireless reverted to rev. 887. code in odometry interrupt conflicts with motors, not allowing the robot to move motors in response to commands.

970 01/27/2009 08:27 PM Abraham Levkoy

Wrote some code to test wireless communication between the computer and
the robot. Right now, it doesn't work.

966 01/26/2009 07:35 PM Justin Scheiner

Small changes - new file just waits for packets to buffer
for matlab, so the robots will decide when to send their
data in this version.

965 01/26/2009 07:34 PM Abraham Levkoy

Cleaned up test.c and robot_main.c in mapping.

963 01/23/2009 03:58 PM Justin Scheiner

Minor modifications and fixes. Haven't gotten it to work yet.

960 01/22/2009 07:34 PM Justin Scheiner

Small changes and comments.

959 01/22/2009 07:25 PM Justin Scheiner

Changed receive to work when there's no data,
haven't tested for when there is,
test.c works as expected,
Makefile modified to work on receive.c on a linux machine with matlab.
testing robots pending - not hopeful - see code.

957 01/20/2009 10:12 PM Justin Scheiner

Slight corrections to this file. I have no way
of testing without a computer with matlab/linux.

If anyone knows windows threading I'd be much
obliged. Alternatively, if anyone knows if there
is an accessible build of gcc higher then version
4 on andrew unix let me know.

954 01/16/2009 04:01 PM Justin Scheiner

Just some test code to see how concurrency works in matlab functions.

953 01/16/2009 03:50 PM Justin Scheiner

Added some test code for the receive function - does not work as
I can't get the token ring to start up. receive.c needs to be on
a matlab computer to be compiled and run correctly (mex receive.c -lpthread)

952 01/16/2009 02:36 PM Justin Scheiner

Wrote mex file code to interface between matlab and the wireless library.

949 12/10/2008 07:36 PM Justin Scheiner

Added a odometry_velocity function that gives approximate speed of the robot in mm/s.

948 12/10/2008 03:55 PM Justin Scheiner

Added symbolic links to the odometry in mapping to the library, and provided documentation.

947 12/10/2008 03:30 PM Justin Scheiner

Odometry works!!

935 11/22/2008 11:39 PM Tudor Achim

untested realtime ir plotting

934 11/21/2008 08:20 PM Tudor Achim

Realtime position plotting

932 11/18/2008 11:49 PM Tudor Achim

A working server, with debug printing, some mapping capabilities
Partly for testing

930 11/18/2008 09:58 PM Chris Mar

sample maps created by pushing the robot around a table (3 or 4 walls)

929 11/18/2008 09:25 PM Justin Scheiner

Nothing was fixed nothing changed.

928 11/18/2008 09:16 PM Chris Mar

updated server-side mapping code (remote control, etc)

927 11/18/2008 09:16 PM Chris Mar

added odometry to robot mapping code via symlinks to justin's odometry code

926 11/18/2008 09:15 PM Justin Scheiner

Odometry committed. New version is more general, but still drifts to zero.

925 11/18/2008 09:14 PM Chris Mar

cleaning up robot code for mapping

924 11/18/2008 09:00 PM Justin Scheiner

Odometry will temporarily not work. Working code commented out. This commit is so the blight on the world that is
colony math.h will be eradicated for all time.

919 11/18/2008 06:24 PM Tudor Achim

added model, whoops

918 11/18/2008 06:22 PM Tudor Achim

python stuff

917 11/14/2008 11:12 PM Chris Mar

driving code interprets odometry data correctly, uses non-blocking key listener and can receive packets continually

916 11/14/2008 04:55 PM David Schultz

added ideas on multi-robot behavior
will turn into actual code eventually

915 11/14/2008 12:08 AM Chris Mar

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)

913 11/11/2008 09:56 PM Justin Scheiner

Odometry works but the precision is awful. Angles are measured fairly accurately, but distance readings are consistently lower then expected.

912 11/11/2008 08:18 PM Abraham Levkoy

Robot sends updates 50 times per second. Robot remote control program doesn't mess up terminal upon exit.

911 11/11/2008 07:48 PM Chris Mar

fixed output filename and unsigned data

910 11/11/2008 07:29 PM Justin Scheiner

Realized local encoders file was still in the repository.

909 11/11/2008 07:26 PM Justin Scheiner

Quick update before I do something stupid.

908 11/11/2008 07:14 PM Chris Mar

remote control of robot and data output for matlab

907 11/11/2008 06:57 PM Emily Hart

Code that converts data from the robot into a plot

904 11/08/2008 09:30 PM Justin Scheiner

Compiles now. This code worked a while ago but I haven't touched it since early last semester.
The idea was to do exactly what Abe is doing now... so it might be useful.

902 11/08/2008 06:48 PM Tudor Achim

python thingy

900 11/08/2008 06:11 PM Chris Mar

added remote control to robot code that sends mapping data

899 11/08/2008 05:28 PM Abraham Levkoy

Wireless output works.

898 11/08/2008 03:54 PM Abraham Levkoy

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.

894 11/07/2008 04:49 PM Justin Scheiner

Some changes.

890 10/28/2008 07:08 PM Justin Scheiner

Changed some odometry stuff. Interrupt is called now.
Still some problem that is not updating x and y data.

889 10/28/2008 04:55 PM Justin Scheiner

Forgot to add these files to the repository.

884 10/24/2008 04:42 PM Justin Scheiner

odometry compiles - timer issues, interrupt never called.

872 10/06/2008 04:06 PM Justin Scheiner

Small modifications to odometry. I'm all but committed to using floating point.

760 05/01/2008 02:50 PM Justin Scheiner

Cleaning up, trying to be safe.

730 04/23/2008 09:47 AM Justin Scheiner

Minor changes (maybe).

724 04/21/2008 11:42 AM Justin Scheiner

More work on odometry code. (Really want to use floats but am avoiding temptation for now.)

723 04/17/2008 09:01 PM Justin Scheiner

Wrote some odometry code. I had the timers the way I wanted them a couple of days ago, but then subversion ate up my code. I have the right interrupt vector now though...

722 04/17/2008 08:33 PM Justin Scheiner

Maybe all of this nonsense will go away now?