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)
Updated makefile to compile binaries for simulator.
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.
Odometry works!!
extension of update to eeprom/bom/init. this is just the include files and the library archive.
Integrated new BOM1.5 compatible code. Also put eeprom code for reading ID and BOM type from EEPROM. will need to program each robot's eeprom separately later. This has been tested and verified to work on robots with different BOM types.
added a test for lights/orbs.
Simulator library compiles.
Simulator library compiles but doesn't do anything.
All library files added, unimplemented.
Prototype JNI (Java Native Interface) for libwireless. Compiles, and java loads the library, but untested with a real scenario or hardware.
added passing of overhead camera image to client through PHPfixed unfreed memory in server/vision/savetonetwork.c
OpenCV now works directly with firewire, coriander is not neededNew vision algorithm integrated, a few issues left with algorithm that tracks the movement of a specific robotRemoved experimental interface to send images over commands socket --plan to use php in webserver instead...
New vision algorithm utilitizing Hough Transform and edge detection instead of the older one using ellipse fitting and thresholding
Incremental update; working on: - new vision algorithm utilizing edge detection instead of thresholding - sending camera images over sockets instead of using the webserver
untested realtime ir plotting
Realtime position plotting
Added unimplemented message to simulator library.
A working server, with debug printing, some mapping capabilitiesPartly for testing
changed xbee packet handling, added more info for unexpected packets
sample maps created by pushing the robot around a table (3 or 4 walls)
Nothing was fixed nothing changed.
updated server-side mapping code (remote control, etc)
added odometry to robot mapping code via symlinks to justin's odometry code
Odometry committed. New version is more general, but still drifts to zero.
cleaning up robot code for mapping
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.
commented
fixed syntax
i2c library for the bay boardsdetects xbee presence to determine master/slave
Fixed error when getting xbee address during init on computer
added model, whoops
python stuff
driving code interprets odometry data correctly, uses non-blocking key listener and can receive packets continually
added ideas on multi-robot behaviorwill turn into actual code eventually
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)
Changed the compile file from Charging.c to ConstantCharging.c
Odometry works but the precision is awful. Angles are measured fairly accurately, but distance readings are consistently lower then expected.
Robot sends updates 50 times per second. Robot remote control program doesn't mess up terminal upon exit.
fixed output filename and unsigned data
Realized local encoders file was still in the repository.
Quick update before I do something stupid.
remote control of robot and data output for matlab
Code that converts data from the robot into a plot
Started working on library... Wrote about half of the stubs.
fixed makefile in Robot Debug to point to trunk library for dragonfly
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.
added range_init() call to dragonfly_init(). you will no longer have to call range_init() separately in your programs
python thingy
added packet receive functionality to remote control server code
added remote control to robot code that sends mapping data
Wireless output works.
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.
code for server with xbee dongle to control robot running slave code
keyboard remote control code
girl scouts!! yay!!!!
Some changes.
Updated simulator lib directory with new headers.
Fixed Makefile and Doxyfile.
Moved comments to headers. That was painful.
Changed some odometry stuff. Interrupt is called now.Still some problem that is not updating x and y data.
Forgot to add these files to the repository.
Added the header files for spi, encoders, and eeprom to the trunk library.Recompiled library :P
Updated trunk branch of wireless... Still won't work though because of Makefile.
Synchronized trunk and bayboard versions.
Removed debugging messages from wireless for bayboard.
odometry compiles - timer issues, interrupt never called.
Wireless for bayboard sort of works. I still left in all my debugging information though, and it doesn't seem to work quite as well as the other two. Some more work is needed.
added comments explaining the columns
Moved headers to include directory.
Created simulator branch. Sorry for adding new branches, but I am planning on rearranging the library.
add Fall 08 and Spring 09 SURG papers
added Colony_Wireless.ppt to /trunk/pub/presentations
Delete src directory.
Updated libdragonfly makefile.
Updated wireless makefile.
Added comment in discrete controller
commented!
Small modifications to odometry. I'm all but committed to using floating point.
Recommitting the library so encoders work for other people as well.
Reversed the left wheel. Encoders increment when the robot is moved forward.
Recompiled documentation with additional documentation for SPI and encoders.
Added spi and encoders to the trunk. Tested and worked. Encoders still read out directions backwards - i.e. there isn't a defined 'direction' forthe encoders to go with the wheels yet. I'll fix this about now.
Added encoder test code to trunk. Addition of encoder code pending testing.
Fixed file paths in last commit
Moved files
Updates to joystick control/slave - attempt 2
BOM1.5 Driver complete, test case is in template. Next step is to merge with trunk, which could have issues since the trunk functions are different now.
Updated analog.c and analog.h documentation and regenerated the docs. No need to remake the library as its just comments.
homing works and is added to library
fixed target in Makefile
carrier frequency works but not high/low
bom/token ring test completeupdated testeeprom #include to make it compile
Removed KWoo's crap from template.
Figured out the modules page thing.. Sorry about two big commits..Its just a whole bunch of generated html.
Recompiled documentation for encoders -BRIAN!! How do you add encoders to the modules page?
Did a lot of cleaning up and commenting. Made the error codes returnedby encoder_read more explicit - so if you get weird values check the documentation.
A lot of stubs and incomplete code, I made these things explicit in the source and documentation.