control law for speed starting to work.WARNING: can't use delay_ms with encoders_init
Minor changes to Colonet delays
Made recharge test more user-friendly
Colonet recharge hack works
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?
More sophisticated hack; bot 4 is default
Added hack for colonet recharging
Testing changes in colonet
made some fixes to robot debug. Also added the current regulation to Charging.c, which seems to work!
Svn gods be kind.
Cleaning up, trying to be safe.
fiddled with run around, filmed some demos. i have yet to make videos...i need to look that up
Fixed the same bug in colonet client
Fixed bug in colonet client
Fixed declaration that caused a linking problem
Fixed wireless error preventing compilation for colonet
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.
object detection has been integrated. can distinguish green object from wall and swarm said object. has issues keeping the token ring going, but wireless packet transmission is fine.
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
Commited new wireless version.
added andrew's ident code files
code works good with button press. waiting for object detection code. need several robots and charged batteries for demo video.
Updated wireless library.
Fixed compilation errors.
obj manip - swarm to an object (using button press to detect object)
fixed speeds, stop distances for bfs
Updated wireless library binaries and headers.
Updated wireless documentation.
Major changes to wireless, but still more work to do.
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.
reverted projects/template/ directory to pre-demo state. moved run_around demo code into behaviors/smart_run_around_fsm/ directory.
New stuff works, fixed bugs, removed malloc.
code commented and cleaned up. should work but untested.
Minor changes (maybe).
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
More work on odometry code. (Really want to use floats but am avoiding temptation for now.)
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...
Maybe all of this nonsense will go away now?
Real subversion issues... this is the best I could do so far.
!
!!!
Changed bayboard makefile
added a bunch of TODO comments that will improve the style, efficiency, and possibly memory usage of the wireless library
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
added slowing feature to bfs as it approaches its target, and fixed some rangefinder distances.added code to allow for better transitioning to seek the final robot in a multiple robot scenario, but needs testing.
Tweaked vision and various colonet fixes
lbom library doesn't work
Got rid of old boundary and charge station after disconnect
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 server Makefile to include vision code
fixed hanging issues in stop.c, should work now NEEDS TESTINGupdated to newer version of i2c.c
Added structure to send charge commands; need to implement robot side
Code cleanup; added class for constant defs; click-in-boundary checking
merged lemmings
added some TODOs to be addressed
Updated command to clear virtual wall; also fixed minor code error
replaced smart_run_around with demo version from trunk. works much better now.
recompiled library - orb_init was called twice by dragonfly init. template folder contains run around demo code (to be restored post-demo). the ords appear to work (at least for demo).
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.
Added joystick slave code
ignore this
disabled debug printout in colonet_dragonfly
Joystick control works using xbee_putc
Added colonet functionality, remote control driver
added possibility of global client write
reorganized colonet robot code significantly; virtual walls basically work
Adjusted webcam loading
bfs for multiple seekers works as long as they all have line of sight. bfs without line of sight needs work in the transition from the followed robot to the target robot.
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
merged orbit branch (orbit, bfs) with trunk