Removed headers, sonar uses custom timestamp, added code to manually update timestamp
Added position to published sonar messages
Adding Charles's headlight code
Committing Anson's BOM changes
Added ENABLE output for stepper
This will hopefully solve the problem of the stepper heating excessivelyand constantly using current.
Fixed rosserial; now works with Gumstix
Changed stepper to always step in step_sweep
Also added whole/half step as a separate setting, with a singlestep_do_step function. Also added stepper to main.cpp.
Signed-off-by: Anson Wang <email@example.com>
Range sensors work now! :D
Fixed AVR hanging when sonar not connected
Began filling in ROSsy main function
Some changes to the stepper library
A few bug fixes, and changed various values to use ms instead of us dueto integer overflow problems.
BOM testing code in main.cpp works with rosserial
Changed scout_avr's main.cpp to use rosserial
Finally automated generation of ros_lib for rosserial!
Changed sonar/bom timer to 64 prescalar
Also fixed bug in the bom's timer usage, where it depended on an integeroverflow that was no longer occuring due to the higher F_CPU.
Modified to compile.
wrote code for the stepper motor. Requires that the caller calls init withthe time that the function returned by the init function will be called.then the user must call this function at the given constant time intervalthis allows for sweep to work.Library also allows for independent control of the stepper.
Fixed interrupt bug in AVR serial code
Serial read disabled interrupts at the start, and returned beforereenabling them. Also, made a few other changes in the rx interrupt forcleaner code. Also, sped up programming in Makefile.
Changed range sensor to read on-demand
Fixed pins to work with 128rfa1 instead of 2560
Moved some sensors to different timers
Most notably, change the ROS millisecond counter to share the BOM 38 kHztimer instead of having its own. The range sensor and BOM rx will nowshare timer 5, but they both have to be fixed for the higher F_CPU.
Added check bits back into BOM. oops...
Some fixes to BOM, which is now tested and it works
Added initial BOM code
Only the sending code has been tested; receiving will soon be tested aswell.
Fixed range sensor code to support 2
Also, tested (with only one sensor) and it seemed to work adequately.
Fixed compiler errors in scout_avr
Added second range sensor to scout_avr
Not yet tested.
Added and tested range sensor to scout_avr
Max output should be 37500 (max observed value actually ~38600), and itmay be scaled down later. Also, the second sonar will need to be addedlater... forgot about that...
Also, added an option to avrdude in the Makefile which makes it upload...
Fixed problem with serial rx. Rosserial now works.
Tested rosserial a little with a 328.
It doesn't quite work yet. Writing works, reading has not been tested,and rosserial acts weirdly inconsistent.
Added rx buffer for rosserial
Added preliminary rosserial code, in scout_avr/
Everything in src/ros_lib was copied from the rosserial_client packageor generated with 'rosrun rosserial_client make_library.py ...'. Thecontents of the Makefile are just for testing whether it compiles. This...