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Add addNode() and revise initialize()
Merge branch '1.0_dev' of http://openresearch.cit-ec.de/git/amiro-os.amiro-os into 1.0_dev
Add transmitMapState()
Rework and test update()
Rename and move userthread states to Constants
Calculate distance between nodes and traveled distance since last node
Add debug return for AmiroMap update, test fixpoint detection
Add state transition tracking, prevent overflow of tracking buffer
Stop tracking state transitions, move test suit from main to userthread
Tune thresholds for TURN
Change turn logic by utilizing the bottom sensors, add shell command infos fordisplaying all state transitions
Add docking correction procedure
Add DEVIATION_CORRECTION state for a more precise docking maneuver
Introducing error states (negative lable): DOCKING_ERROR, REVERSE_TIMEOUT_ERROR, CALIBRATION_ERROR, WHITE_DETECTION_ERROR, PROXY_DETECTION_ERROR, NO_CHARGING_POWER_ERROR (not in use), UNKNOWN_STATE_ERROR.Bootom sensors can be calibrated for specific colors with MSG_CALIBRATE_BLACK/WHITE,...
Add check for frontal object, rotate if frontal object is detected
Add ERROR state to FSM
Reastructure the PID conbtroller to use more accurate values, add the i and d proprotion to the controller
Bugfix: white and protection will not be active, for some time, after RELEASE state
Add new correction behaviour when amiro drives to the loading station and fails to dock, change undock behaviour (AMiRo rotates clockwise 20 degrees to free from station magnet, drives 0.5 cm, rotates back and drives again
Add voltage check for docking: activate pin gets requested, if voltage is detected the state is changed to CHARGING otherwise the docking will repeate
Amiro now stops befor obstacles, detected by the proxy ring
Refactor userthread, change optimazation level in Makefile
Add final state maschine for userthread, it contains functionality for standard line following as well as the docking procedure
Fix docking behaviour, implement ability to trigger line following (different strategys as well as just start and stop) over CAN
Enable several modes of linefollowing in the DiWheelDrive userthread
Refactor userthread, remove unused code
Implement driving towards loading station
Implement differnet line following strategies
Add first part of ziegler method, refine shell comands to parse output via python
Implement adaptive threshhold for line Following. AMiRo can now be calibrated and the sensor values with the maximum thesh will be set as guiding thresholds
Investigating delta
Constants added
Create PID controller which needs adjustment
Create rudimentary line following with front proxi sensors
Constants.h: renamed CAN::UPDATE_PERIOD_MSEC to CAN::UPDATE_PERIOD
Merged recent modifications from development branch:- proximity sensor frequency was increased from 8Hz to 125Hz- system synchronization frequency was increased from 8Hz to 16Hz- I2C bus clearing functionality was improved- magnetometer and gyroscope data are now available to the whole system...
Initial commit of AMiRo-OS version 1.0. This is the first version released open source.