History | View | Annotate | Download (6.138 KB)
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
Initial commit of AMiRo-OS version 1.0. This is the first version released open source.