Changed Odometry to publish a ScoutPosition message with the scoutname, x, y, and theta.
Merge branch 'master' of ssh://roboclub.org/home/svn/scoutos
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.
Removed Header from BOM message.
If we need a timestamp, we can add it back later. We don't need aframe_id...
Scoutsim now has consistent units of m and m/s.
This will cause some problems.
Fixed pause and resume. Kind of. There are lots of bugs with the GUI.
Fluidified fluid teleop.
Removed the initial default scout spawn.
This should be taken care of by the GUI or launch file somehow.
Loads specific images for each scout if they exist
Otherwise, looks in the images folder for scout.png.Added a few default scouts with numbers, and the xcf files they were created from.
Fixed pause so that it compiles. Also changed behavior gui so that it starts with Scout1 automatically.
Added toggle for Sonar. Added backsonar indicate-Sonar can be toggled under Sim -> Sonar-Front and Back onars now display most recent scan point as a green dot
BOM testing code in main.cpp works with rosserial
Conflicts: scout/libscout/CMakeLists.txt scout/libscout/src/BehaviorList.cpp scout/libscout/src/BehaviorList.h
Added pause behavior to list
Added new behavior to makefile
Changed scout_avr's main.cpp to use rosserial
Fixed problem with "make clean all" globs failing
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.
Removed bom.cpp, bom.h, get_bom_reading.srv, and query_sonar.srv
Removed them for real this time; not pretend :D
Changed get_bom_reading.srv to bom.msg
Also, removed bom.cpp and bom.h since there won't be a bom node runningon the Gumstix.
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
Scoutsim: Added Sonar Toggle
Sonar display can now be toggled via Menu->Sim->Sonar
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 built-in scoutsim teleop!
Generate a blank image for lines/walls if one doesn't exist.
Edited Sonar to display points on simulator.
Changed rate of sonar scan to 0.5sMade a new wxDC graphics object for sonar
Fixed Odometry behavior so that it now works and then added a get readings functionality to sonarcontrol.
Added Sensors class that abstracts away sensors from behaviors. Stops creatingduplicated sensors for each scout.
Added race_walls again, whoops.
Added a new grid map for testing.
Updated scout size. Now 1px = 0.5cm.
Added initial GUI for testing, renamed cw and ccw behaviors
Sonar works!
Also added new testing files for sonar - maps/racetest*.bmp
Added sonar, though it looks buggy.
Use sonar_viz to continue debugging and make sonar work!
Added irq_set_irq_type to encoder driver
Added actual reads from hardware to encoder.ko
Not yet tested on Gumstix (especially since I don't think we have theencoders yet).
Added sources.list to /etc
Added udev rules file for pwm devices
Added flush to motors node so hardware values actually change
Fixed mistake in rc.local
Changed chown to chmod.
Added /etc/modules, and changed network setup
Removed /etc/network/interfaces, which blocks until a dhcp server givesthe Gumstix an IP address resulting in a boot time of ~2:15 instead of~0:15. Instead, dhclient is started in rc.local.
Finished adding gpio control to motors node
I changed the Motor constructor to take pin numbers instead of filenames, and construct the file names itself. All that remains in testing.
Changed "download" to "program" in scout_avr Makefile
Added kernel module for quad encoders
The kernel module is not finished yet. Also, added various config filesthat go on every Gumstix. It would be nice to have an automated scriptfor installing them.
Added forward/backward support to motors node
Changed motors node to write to pwm device files
Added walls to the scoutsim visualizer.
Fixes to WirelessReceiver and wl_test
Changed receive callback to use std::function so we can use std::bind topass non-static member functions. There is still a weird problem whereWirelessReceiver::dummy gets called many times for each incoming packetin wl_test.
Broke the build and then fixed it. Now onto testing!
Added wireless handling to scoutsim. Untested.
Added a main license file.
Soon, we can remove the annoying licensing info at the top of every file.
Just commented out a line of unused code.
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.
Added delay to kickstart file to make sure scoutsim gets set up.
Not like anyone cares.
Demo almost working Scouts go home! a
Added launch files for the demo and made a little change to theargument checker to make them work.
better warehouse image (corresponds with lines now) and demo. Now only thing left is to implement home behavior.
Ok Scheduler warehouse behaviour working! and linefollowing works better now! Onto better demo.
Trying to make the warehouse robot drive around
Renaming to line follow and getting rid of old linefollowing files.
adding maps for warehouse and fixing strtok issue in wh_robot that massed up curr_task
some testing done on WH_robot exec_task, issue pinpointed to curr_task's dest being stored as 0, not fixed yet
made the linefollowing a bit more reliable
Sim line can make turns now! yay
WH_robot goes home in exec_task, follow_path function added; untested
Adding wl_test files that were not added before
Small changes to wireless, and starting turning with line following.
some fixes to whrobot and scheduler
updated teleop; now works for multiple scoutsim robots
Fixed compiler errors in scout_avr
Added second range sensor to scout_avr
Not yet tested.