Moved usb_puts_P from diagnostic station to library
Added usb_puts_P
Fixed code duplication
Implemented single encoder testingCleaned up motor direction/wall direction naming
Implemented single motor testing
Station server communication: implemented dummy data sending
Station/server communication: - Implemented backspace handling - Implemented all test starting commands with parameterTests: - Added functions for testing only one component of a kind - Made function names consistent with server commands
Changed smart run-around from old version to new version, which seems kind of silly, since the rangefinder functions didn't actually change.
Smart run around produces more of a wall-following behavior at this point. Rangefinder readings are clearly not in cm. I have assumed that theygive 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 ...
Created new directory for development of new smart run around. Although thismakes no sense WRT the structure of the repository, it will allow autonomousmapping to continue to function during the development of the new smart runaround while still keeping the new smart run around conveniently close to...
Added server communication parameter parsingMisc. fixes
finished sending encoder data
finished storing encoder data
defs for robot -> station communication
robot can send data to station
added infrastructure for robot to send data to station
Eliminated stationCode folder by merging necessary components into station folder.
Changed Makefile target name to target
Added multiple main functions hack
Server communication: basic message processing
Added individual hardware component files
Made filenames more consistentMade function names more consistentIntroduced separate functions for hardware components
Made it compile again
Started work on server communication code
added read encoders command
Added server_comm.c/server_comm.hAdded tests.c/tests.h
Encoder code added, tested, works. There are 720 ticks per dyno shaft revolution.
added encoder read command for station
Added # to the beginning of every USB output line, as it should not be interpreted by the server.
Removed UI/, it has been merged into station/main
Added message_set_motors_timeAdded message_set_motors_off
Replace smart_run_around_fsm.c with the one that simulator has been using, which apparently uses the new rangefinder interface.
Some changes to match the updated library.
Do all tests if button 1 is pressed after startup.
Added robot codeAdded robot/station communication
Added missing inttypes header
Added self test and communications test
Added OS detection to MakefileAdded robot and station directories
Added some papers guiding the current approach, and commented some.
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.
Fixed Makefile docsFixed documentation
Added usb_puth* to serial.c/serial.h
Merged new orbs codeAdded atomic.hFixed whitespace in eeprom.h
Added functions to allow for user-viewable data dump versus a computer-usable data dump. Code will sample specified ports and print values. Was used to determine which ports are being used for the inverse BOM.
Includes code to sample all analog inputs. Used to determine which ports the inverse BOM are connected to.
Committing some test files, as well as an updated version of the sensor mapping code.
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 ...
Small update to code which reads analog ports.
Put smart run around FSM in autonomous mapping programRobot goes into BACKWARDS mode a few seconds after starting up and apparently cannot be diverted
made packet group and packet type for odometry packets separate #defines
got rid of old stuff for driving from the computer
Updated README files to better reflect folder contents.
Continued to reorganize file structure. Added README files to upper level file structure.
Reorganizing file structure.
Server code.
Evan's UI code.
Added code to station code version 1 to read from analog wheel port
Changed template code which displays orbs.
Makefile OS autodetection
Cleaned up the code, someone help figure out the memory error!
Bugfix: BOM_S2 and BOM_S3 were switched, resulting in wrong addressing of the BOM detectors (0 1 2 3 8 9 10 11 4 5 6 7 12 13 14 15).
First attempt at a probability density mapper. Unifinished.
Made some additions to rayHits.c
Not really useful, just for me
Changed the robot dir to drive and added a dir to work on autonomous mapping
Small modifications to receive.c, corrected an errorin the ring buffer. Some commenting and cleaning.
Succesfully tested BOM LED current.
Corrected Makefiles to work inside the trunk.
Moved diagnostic station workspace to trunk.
Moving Diagnostic Station Workspace from branches to trunk.
include path was fixed. AVRDUDEPORT was changed to com4 instead of the usb/tty thingy
Fixed some errors due to BOM being used instead of BOM10
Having trouble with wireless (I think) hopefully this will work by friday.
tested a bunch of different environments for mapping
Switched wl_init and wl_set_com_port in test.c (again?)
Changes all around. Matlab server is now passive, might work soon.
Added the data files for real this time
Ran some tests in different environments. Data is in 1, 2, 3.txt
calls to wl_init() and wl_set_com_port() were inverted
test takes an argument for the USB port #, but it doesn't commit a memory error like it did last time I committed
test now takes a second argument for the USB port number
sorry...didn't mean to commit odometry.c
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.
Wrote some code to test wireless communication between the computer andthe robot. Right now, it doesn't work.
now it will work
Small changes - new file just waits for packets to bufferfor matlab, so the robots will decide when to send theirdata in this version.
Cleaned up test.c and robot_main.c in mapping.
Minor modifications and fixes. Haven't gotten it to work yet.
Small changes and comments.
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.
added test for motors. it just runs the left and right. this can be improved.
Slight corrections to this file. I have no wayof testing without a computer with matlab/linux.
If anyone knows windows threading I'd be much obliged. Alternatively, if anyone knows if thereis an accessible build of gcc higher then version 4 on andrew unix let me know.
Just some test code to see how concurrency works in matlab functions.
Added some test code for the receive function - does not work asI can't get the token ring to start up. receive.c needs to be ona matlab computer to be compiled and run correctly (mex receive.c -lpthread)
Wrote mex file code to interface between matlab and the wireless library.
testing commit on new svn (just template directory)
Added a odometry_velocity function that gives approximate speed of the robot in mm/s.
Added symbolic links to the odometry in mapping to the library, and provided documentation.