Michal Sojka [Mon, 21 Nov 2011 08:58:20 +0000 (09:58 +0100)]
Update submodule URLs to absolute ones
This is necessary for submodules to stay working after I moved the repo
from /eurobot to /eurobot/soft. The old URL is a symlink to the new one
and thanks to absolute URLs, now, submodules should work the same
independently of which URL is used to clone the main repository.
Michal Vokac [Fri, 14 Oct 2011 09:24:54 +0000 (10:24 +0100)]
cand: Fix bug with power alert handling.
I think the previous version is wrong - PWR board sends CAN msgs when voltages are out of limits.
But CAN daemon do not receive and parse msgs with this alert ID.
Instead can daemon received alert msgs from ORTE and forwarded them to CAN.
Now I fixed this and alert msgs from PWR board are parsed and forwarded to ORTE.
Michal Vokac [Thu, 13 Oct 2011 14:19:00 +0000 (15:19 +0100)]
eb_pwr: New version of power management.
- time measurement using global variable with time
Now time is measured in the same manner as in the other modules (ie. eb_vidle atc).
The code is more clear ant later improvements are easier.
- I have moved all the definitions to header files, add def.h file.
This improves clarity and readability.
- Now 5V and 3.3V power supply is switched off only when battery is in critical state.
Prevents cyclic on/off switching of all the boards in the robot.
Still this algorithm needs improvements, but now CAN communication is more reliable.
Michal Sojka [Wed, 22 Jun 2011 22:06:28 +0000 (00:06 +0200)]
Add gumstix binaries (root image etc.) as a git submodule
The history of the repository was rewritten to not contain these binaries.
It was about 500 MB of data that was not useful for most people. Now,
the data can only be checkout if needed by
git submodule update --init bin/gumstix
(note: The rest of the binaries will be uploaded laster when I have a
better connection.)
Michal Vokac [Fri, 3 Jun 2011 10:09:46 +0000 (12:09 +0200)]
robofsm: Add function for royal figures recognition.
Function reads distance from front sharp connected to ebBoard ADC input
previously used for left jaw potentiometer reading.
If distance is smaller than limit we say figure is royal = return true, if greater, it is pawn = return false.
Michal Vokac [Fri, 3 Jun 2011 10:03:56 +0000 (12:03 +0200)]
robofsm: Add new states.
Added pick opponent bonus figure FSM.
Added pick fifth figure FSM.
Added pick center figure FSM.
Added new common states for placing third figure on another square when bonus square is full.
Michal Vokac [Fri, 3 Jun 2011 09:37:56 +0000 (11:37 +0200)]
robofsm: Fix problem with timespec_substract function.
timespec_substract function slightly changed value in start time structure,
(it puts negative value in start time nsec variable) which causes problem when WAIT macro (clock_nanosleep function) was called again.
Michal Vokac [Tue, 24 May 2011 00:40:38 +0000 (02:40 +0200)]
robofsm: Competition FSM tuning.
Put circle wall flag to all my squares and generate pseudo random positions on opponent squares.
Add bumpers and hokuyo enable/disable parameter to all FSM states ENTRY event.
Michal Vokac [Tue, 10 May 2011 10:37:19 +0000 (12:37 +0200)]
This is actual state of the robot after competition.
cand: Changed direction of motion.
robodim: Robot dimensions updated to new configuration.
Added defines for motor gearbox and IRC parameters.
robofsm:
actuators - updated positions of jaws actuator based on servos.
fsmmove - FSM event obstacle behind and obstacle side extended with new sensors.
homologation - last version of competition automaton used in match with TURAG team.
robot - protected block size extended to the two protected fields.
It is forbidden to enter this area so it is safer if path planer is not allowed to plan trajectory through this area.
Map flag wall added to opponent starting area and the first field before this area - blocking opponent access to this area is forbidden.
Walls around the playing area removed because we moved Hokuyo sensor upward so it dos not scan playing area borders.
robot_orte - rear sensor added to robot bumpers callback function.
Used definitions of motor gearbox and IRC parameters.
Added comment for some horrible hack I think. I do not know how to solve this correctly.
After homologation process we have to redesign the configuration of the robot significantly.
Motion direction was changed - now the robot goes with jaws forward.
We place hokuyo sensor above the jaws so it do not see table borders and royal figures and we are able to move on the table without seeing opponent everywhere. Shapedet library was not able solve this problem.
We moved hokuyo sensor upward so it does not scan pawns. There was absolutely no free space between figures.
We were trying to test and use shapedet functionality, but it was not as good as we expected.
The biggest problem is that we did not read a Eurobot rules properly - there is that the testing (fake) opponent robot is 200mm in diameter.
This means that the shapedet library is tunned to detect the opponent robot as good as playing elements - LOL.