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amiro-os @ 27d4e1fa

# Date Author Comment
27d4e1fa 2019-12-12 09:15 Georg Alberding

Add ERROR state to FSM

c9fa414d 2019-11-28 17:03 Georg Alberding

Reastructure the PID conbtroller to use more accurate values, add the i and d proprotion to the controller

61544eee 2019-11-28 08:40 Georg Alberding

Bugfix: white and protection will not be active, for some time, after RELEASE state

019224ff 2019-11-26 16:47 Georg Alberding

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

ba75ee1d 2019-11-26 09:24 Georg Alberding

Add voltage check for docking: activate pin gets requested, if voltage is detected the state is changed to CHARGING otherwise the docking will repeate

7f4e10f7 2019-11-26 08:30 Georg Alberding

Add debugging methods

6d830173 2019-11-26 08:28 Georg Alberding

Deactivate automatic movement when values of sensoring exceed some threshold

f12b953d 2019-11-26 08:16 Georg Alberding

Add debugging control: Send messages from PM to test functionality of DiWheel state machine

e2002d0e 2019-11-20 11:14 Georg Alberding

Amiro now stops befor obstacles, detected by the proxy ring

05d54823 2019-11-19 16:48 Georg Alberding

Refactor userthread, change optimazation level in Makefile

8c99e03a 2019-11-19 16:45 Georg Alberding

Add requestCharging() to send CAN msg to PowerManagement in order to enable the charging pins, add debugging mehtod setStrategy() in Porermanagement

d314ad6f 2019-11-19 16:40 Georg Alberding

Refactor and add doc

726fdc72 2019-11-19 16:14 Georg Alberding

Add line following

3a3d08d9 2019-11-19 16:09 Georg Alberding

Add control parameter for linefollowing in userthread to manage CAN communication

beb4f137 2019-11-19 16:07 Georg Alberding

Add SET_LINE_FOLLOW_MSG id

181f2892 2019-11-19 16:06 Georg Alberding

Add final state maschine for userthread, it contains functionality for standard line following as well as the docking procedure

f3972840 2019-10-22 15:36 Georg Alberding

Add constant SET_LINE_FOLLOW_MSG

d607fcef 2019-10-22 15:34 Georg Alberding

Fix docking behaviour, implement ability to trigger line following (different strategys as well as just start and stop) over CAN

ab2f0120 2019-10-22 10:21 Georg Alberding

Add ID to switch line follow strategy over CAN

9c46b728 2019-10-22 10:20 Georg Alberding

Enable several modes of linefollowing in the DiWheelDrive userthread

5d138bca 2019-10-17 10:19 Georg Alberding

Refactor userthread, remove unused code

c0757912 2019-10-16 14:49 Georg Alberding

Register if docking on the loading station was successful, checkForMotion() blocks if any motion is detected, instead of waition for a fixed time

29943713 2019-10-16 12:53 Georg Alberding

Implement full deactivation of the PID for wheel control, after activation the motors remain stationary

753ccd04 2019-10-15 16:25 Georg Alberding

Enable, disable motor pwm

bfffb0bd 2019-10-15 16:24 Georg Alberding

Implement driving towards loading station

1b3adcdd 2019-10-10 13:35 Georg Alberding

Implement differnet line following strategies

22b85da1 2019-10-09 16:40 Georg Alberding

Implement different line following strategies and stopping if sensor detects white

dd47d655 2019-10-09 10:26 Georg Alberding

New update speed for can bus -> 100hz

88afb834 2019-10-09 10:25 Georg Alberding

New error function

af93a91c 2019-10-02 16:16 Georg Alberding

Add first part of ziegler method, refine shell comands to parse output via python

12463563 2019-10-01 15:37 Georg Alberding

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

b8085493 2019-09-26 15:29 Georg Alberding

Investigating delta

25388c2f 2019-09-26 12:57 Georg Alberding

Constants added

2330e415 2019-09-25 17:24 Georg Alberding

Create PID controller which needs adjustment

c76baf23 2019-09-24 15:54 Georg Alberding

Create rudimentary line following with front proxi sensors

4270bbde 2019-07-16 10:06 Bastian Steinhagen

updated README to ChibiOS ver_2.6.8 commit

5b1b6715 2018-04-11 14:31 Thomas Schöpping

Added compatibility for AMiRo-BLT 1.1.x

f336542d 2018-02-02 12:21 Timo Korthals

Fix stack overflow in DiWheelDrive due to access of non-started gyro thread

Signed-off-by: Timo Korthals <>

33c91ff2 2017-08-28 12:32 Thomas Schöpping

Wii steering slightly enhanced.
It is now possible to use the controller horizontally as well as vertically.

6fd5a427 2017-08-11 19:54 Thomas Schöpping

README.txt slightly updated.

f8cf404d 2017-08-11 19:43 Thomas Schöpping

All outputs that were still printed to SD1 (on-board serial connector) have been switched to global.sercanmux1 (SD1-CAN-multiplexer)

61b0791a 2017-08-11 19:24 Thomas Schöpping

Integrated the Wiimote demo to the PowerManagement logic.

The blouetooth drivers were slightly enhanced.

8dbafe16 2017-08-11 19:23 Thomas Schöpping

Constants.h: renamed CAN::UPDATE_PERIOD_MSEC to CAN::UPDATE_PERIOD

ff7ad65b 2017-06-22 13:29 Thomas Schöpping

Added functions to reset the motor gains.

b0675b0b 2017-05-09 18:21 Thomas Schöpping

Fixed typo in authors list

ea4d1c60 2017-05-03 11:17 Thomas Schöpping

Added some additional information in the README.txt file.

24821fe4 2017-04-21 14:39 Thomas Schöpping

README.txt: deleted surplus blank line.

2f3e64c4 2017-04-21 14:38 Thomas Schöpping

FIX: Odometry thread stack size increased to prevent stack overflows.

3dcad54e 2017-04-20 17:33 Thomas Schöpping

README.txt updated:
- maximum line width was increased to 80 (from 70)
- several updates on content and structure

bc91a128 2017-04-20 16:24 Thomas Schöpping

Minor tweak on the order in which the devices are compiled and flashed.

10687985 2017-04-20 16:24 Thomas Schöpping

Adapted the OS to be compatible with the new bootloader version 1.0.

552936c8 2017-03-01 15:26 Thomas Schoepping

flash.mk: removed debug output

b4885314 2017-02-28 16:10 Thomas Schöpping

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...

3f899f5d 2016-06-09 10:35 Thomas Schöpping

Re-inserted several Doxygen comments, which had been removed earlier.

074e10d7 2016-06-08 16:59 Thomas Schöpping

CITEC acknowledgment text was modified to the preferred wording.

58fe0e0b 2016-06-08 13:46 Thomas Schöpping

Initial commit of AMiRo-OS version 1.0. This is the first version released open source.