Michael Hope
22bb0ba309
Bound in the IMU to the rover.
2014-02-22 19:20:00 +01:00
Michael Hope
631fff6621
Ping the controller with new GPS readings when they arrive.
2014-02-16 17:00:21 +01:00
Michael Hope
ed899fe947
Add logging to all of the inputs and outputs.
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Changed to a struct style for all logging. Gives easier post processing.
Changed the heading controller to dump state all the time for checking.
Added watchdogs to everything.
2014-02-02 15:13:39 +01:00
Michael Hope
dc7be912cb
Add GPS and Event hooks into all controllers.
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Fix a bug in converting 0-360 headings into -Pi to Pi radians.
Bind in the rest of the waypoint controller.
2014-01-26 16:06:52 +01:00
Michael Hope
d21216390b
Added the position/waypoint controller.
2014-01-23 21:44:25 +01:00
Michael Hope
35ea1cd73e
Switch to glog to allow verbosity levels.
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Add button bindings and handling.
Add a slow heartbeat to show in the log.
2014-01-21 22:00:59 +01:00
Michael Hope
da2790c647
Add a system identification controller that sets the speed based on
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the dial.
Pull the PID parameters out into command line flags.
Change the speed setpoint to 17.5 km/h as 10 is too slow to control.
2014-01-19 10:18:44 -08:00
Michael Hope
afa24fb872
Added mathex and testex packages.
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Added a test target.
Switched the PID and anything else possible float32.
Changed TiLimit to be the total contribution.
Added a deadband.
2014-01-14 20:56:42 +01:00
Michael Hope
dce5d5632b
Re-worked the messages to match the interface board.
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Turned the logging back on.
2014-01-14 19:59:29 +01:00
Michael Hope
e1289d4655
Renamed supervisor to driver.
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Split the GPS and Input status into their own structs.
Added demand output.
2014-01-12 15:57:34 +01:00
