Refactor can msg for line follow speed
Remove whitespace
Refactor
Add CAN message for transmitting the userthread state
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
Add debugging methods
Amiro now stops befor obstacles, detected by the proxy ring
Refactor userthread, change optimazation level in Makefile
Add requestCharging() to send CAN msg to PowerManagement in order to enable the charging pins, add debugging mehtod setStrategy() in Porermanagement
Refactor and add doc
Add line following
Add control parameter for linefollowing in userthread to manage CAN communication
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
Register if docking on the loading station was successful, checkForMotion() blocks if any motion is detected, instead of waition for a fixed time
Implement driving towards loading station
Implement differnet line following strategies
Implement different line following strategies and stopping if sensor detects white
New error function
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
Added compatibility for AMiRo-BLT 1.1.x
Fix stack overflow in DiWheelDrive due to access of non-started gyro thread
Signed-off-by: Timo Korthals <tkorthals@cit-ec.uni-bielefeld.de>
Constants.h: renamed CAN::UPDATE_PERIOD_MSEC to CAN::UPDATE_PERIOD
Added functions to reset the motor gains.
Adapted the OS to be compatible with the new bootloader version 1.0.
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...
Re-inserted several Doxygen comments, which had been removed earlier.
Initial commit of AMiRo-OS version 1.0. This is the first version released open source.