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# Date Author Comment
992 02/03/2009 08:50 PM ttf
991 02/03/2009 04:33 PM Nico Paris

I hope this works

990 02/01/2009 06:38 PM David Schultz

library motor code

when Andrew's memory code is uncommented, uncomment the code in this file

989 01/31/2009 12:46 PM Brian Coltin

Renamed second core directory to test, slated for deletion.

988 01/31/2009 12:45 PM Brian Coltin

Refactored simulator, set some stuff up to work with multiple robots.

987 01/30/2009 05:35 PM Andrew Yeager

Including common directory in commit

986 01/30/2009 05:15 PM Brad Neuman

moved stuff from robot_test into libsim.c
libsim now contains the timer (pause/resume) stuff

Also commented andrew's code because it broke the build

985 01/30/2009 11:48 AM Rich Hong

ticket #159:
main() is just for testing
no working code yet just comments, still need to figure out the math

984 01/29/2009 09:19 PM Andrew Yeager

Function to free memory added, not sure how to test if its working.

983 01/29/2009 08:15 PM Andrew Yeager

Fixed initialization of simulators struct

982 01/29/2009 06:44 PM Andrew Yeager

Added shared memory setup code to the create_robot function. Need to
write the cleanup code still. Exec call is failing but wasn't
succeeding before code change either.

981 01/29/2009 01:29 AM Brad Neuman

Added signal handling code to core simulator

added a robot_test directory which contiains code to run the timer and deal with the robot side signaling. To compile it you need to run gcc
robot_test/robot.c -o robot_test/robot. This whole file is temporary. It is just proof of concept until it gets added to the simulator library

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.

978 01/28/2009 07:57 PM Siyuan Feng

added a draw_funcs.c/h, functions need to draw stuff should go there.
added a basic function used to draw robot with x, y, orientation.

977 01/28/2009 07:39 PM David Schultz

added robot shared memory id to simulator structure

976 01/28/2009 07:00 PM Siyuan Feng

test again. nothing is changed

975 01/28/2009 06:57 PM Siyuan Feng

test commit

974 01/28/2009 06:47 PM Brian Coltin

Draws circle and square.

973 01/28/2009 06:24 PM Brian Coltin

Ooops, forgot to commit main method.

972 01/28/2009 06:22 PM David Schultz

update to robot shared header

971 01/28/2009 04:52 PM Brian Coltin

GUI now compiles.

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.

969 01/27/2009 07:45 PM ttf
968 01/27/2009 07:27 PM ttf
967 01/27/2009 06:08 PM Abraham Levkoy

now it will 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.

964 01/23/2009 05:50 PM David Schultz

added some structs to the common header file

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

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

962 01/23/2009 11:02 AM Brian Coltin

Added beginning GUI code, does not compile.

961 01/22/2009 08:27 PM Brad Neuman

added tests of two possible ways to control proc's.

leaning heavily towards the itimer method

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.

958 01/21/2009 07:32 PM Chris Mar

added test for motors. it just runs the left and right. this can be improved.

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.

956 01/20/2009 07:19 PM Nolan Hergert

Made some modifications for testing in the main loop

955 01/20/2009 07:19 PM Nolan Hergert

Some changes in I2C testing in the main loop

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.

951 01/14/2009 06:30 PM Chris Mar

testing commit on new svn (just template directory)

950 12/27/2008 12:23 AM Brian Coltin

Updated makefile to compile binaries for simulator.

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!!

946 12/03/2008 12:01 AM Austin Buchan

extension of update to eeprom/bom/init. this is just the include files and the library archive.

945 12/02/2008 11:59 PM Austin Buchan

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.

944 12/02/2008 07:32 PM Chris Mar

added a test for lights/orbs.

943 12/01/2008 07:59 PM Brian Coltin

Simulator library compiles.

942 12/01/2008 07:52 PM Brian Coltin

Simulator library compiles but doesn't do anything.

941 12/01/2008 07:36 PM Brian Coltin

All library files added, unimplemented.

940 12/01/2008 07:28 AM Ryan Cahoon

Prototype JNI (Java Native Interface) for libwireless. Compiles, and
java loads the library, but untested with a real scenario or hardware.

939 11/29/2008 08:11 AM Ryan Cahoon

added passing of overhead camera image to client through PHP
fixed unfreed memory in server/vision/savetonetwork.c

938 11/27/2008 06:52 AM Ryan Cahoon

OpenCV now works directly with firewire, coriander is not needed
New vision algorithm integrated, a few issues left with algorithm that
tracks the movement of a specific robot
Removed experimental interface to send images over commands socket
--plan to use php in webserver instead...

937 11/26/2008 09:57 AM Ryan Cahoon

New vision algorithm utilitizing Hough Transform and edge detection
instead of the older one using ellipse fitting and thresholding

936 11/25/2008 05:54 PM Ryan Cahoon

Incremental update; working on:
- new vision algorithm utilizing edge detection instead of thresholding
- sending camera images over sockets instead of using the webserver

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

933 11/20/2008 07:57 PM Brian Coltin

Added unimplemented message to simulator library.

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

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

931 11/18/2008 11:44 PM Tudor Achim

changed xbee packet handling, added more info for unexpected packets

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.

923 11/18/2008 08:29 PM Evan Mullinix


922 11/18/2008 08:18 PM Evan Mullinix

fixed syntax

921 11/18/2008 08:12 PM Evan Mullinix

i2c library for the bay boards
detects xbee presence to determine master/slave

920 11/18/2008 07:10 PM Ryan Cahoon

Fixed error when getting xbee address during init on computer

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)

914 11/13/2008 09:59 PM Nolan Hergert

Changed the compile file from Charging.c to ConstantCharging.c

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

906 11/11/2008 06:41 PM Brian Coltin

Started working on library... Wrote about half of the stubs.

905 11/10/2008 10:36 PM Chris Mar

fixed makefile in Robot Debug to point to trunk library for dragonfly

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.

903 11/08/2008 07:20 PM Chris Mar

added range_init() call to dragonfly_init(). you will no longer have to call range_init() separately in your programs

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

python thingy

901 11/08/2008 06:47 PM Chris Mar

added packet receive functionality to remote control server code

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.

897 11/08/2008 03:30 PM Chris Mar

code for server with xbee dongle to control robot running slave code

896 11/08/2008 03:29 PM Chris Mar

keyboard remote control code

895 11/07/2008 06:14 PM Brad Neuman

girl scouts!! yay!!!!

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

Some changes.

893 10/28/2008 07:45 PM Brian Coltin

Updated simulator lib directory with new headers.