Changed some more stuff, broke running things.
Merge branch 'master' of ssh://roboclub.org/home/svn/scoutos
Added node for testing motors
Probably fixed the crashing bugs. Implemented floating point pickers.
Changed gumstix network config to static
Changed linefollowing so that turns start working once again. Also fixed some bugs with maze solving.
Fixed sonar out of range bug. Max range now at 9.144 m.
Called spinOnce to update sonar readings.
Nicer look for maze map.
Added new services.
Registered a default callback for wireless receiver. Also added default virtual constructor.
Added a maze map.
Added the behavior to behavior list and cmakelists and made things compile.
Finished writing up the maze solving behavior.
Updated sonar so it broadcasts readings in mm as specified.
Removed old teleop.
Changed documentation: sonar pos 0 is on the right
"Fixed" the sonar bug.
Turns out the sonar just wasn't set to on by default, so nothing was being visualized.Changed it so the sonar is on by default.We should probably make it more clear when the sonar is off.
Added services to set individual control for visualization tools.
However, there is a bug in the sonar viz for multiple scouts, looking into it now.
Conflicts: scout/scoutsim/src/sim_frame.cpp
Working on turning sonar on and off for robots individually.
a poor barebone of maze_solve that I wasn't able to finish
Sepearated refresh rate for scouts and for the simulator.
Fixed the line following code.
Now works with new unitsFixed a bug with reading the line location, correctly centering the line between -3.5 and 3.5 rather than -4 and 3.Also fixed a bug caused by overflow in absolute speeds sent to motor control, which fixed bouncing in line following.
Removed a ROS_INFO from ghost scout file.
Range sensors work now! :D
Changed sonar to use 16 bit values, not 8
Little cleanups.
Fixed teleop with new units, and changes the refresh rate to be closer to true m/s.
Changes so that scout1 automatically spawns upon creation of thesimulator environment, and that line follow just continuously followslines instead of prior line-following-capability testing code.
Fixing bugs with ghost scout (these were problems in odometry relatedto constants in the simulator and coordinate frame and theta representationin the simulator). Also made ghost scout translucent in order to differentiateit.
Conflicts: scout/scoutsim/src/scout_constants.h
Continuing work on standardization of units.
Cleanups/TODOs.
Files that add ghost scout.
Changes to add ghost scout to sim frame and make it show up on the simulator.Currently the functionality for killing scouts does not kill the ghost scout. That needs to be fixed eventually.
Conflicts: scout/scoutsim/src/scout.cpp scout/scoutsim/src/scout.h
Fixed sonar bug (corrected y direction)Added sonar_toggle and set_scan command and callbacksCleaned up sonar_visual toggle code
Added header guards to scout constants.
Last commit did not contain changes to Odometry behavior. Gits dumb.
Changed Odometry to publish a ScoutPosition message with the scoutname, x, y, and theta.
Added new launch file template for scoutsim.
Style changes to BehaviorGUI (line length, spacing)
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.
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!