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Tuesday, November 11, 2008

tighten the hatches for the on coming storm

Ok, so it seems my Servo code is actually working, just need to ensure the right values are being sent to ensure the sweep.

Also need to determine the exact right sequence to send to ensure reliable comms - ie how many '\n' should I have.

Next step in debugging is to ramp up and down the servo values.

Monday, November 10, 2008

We are not alone and neither are daughterboards

Well in an effort to use Doxygen and sweep sensors I have come to the conclusion that I need to revisit my previous motor control code.

Specifically I need to drop or slow down or generally tweak the "randomness" of the forward motion watchdog timer. [This monitors how long we have been travelling forward and compares against a random value - this value is too short at the moment].

On another topic I think I will obtain a Tamiya Hornet to modify into a robot base for GPS playtime.

It has a ESC and nice suspension and is a good base with it's bathtub chassis. I propose to control the servos with an AVR of course (unless I fully flesh out the NGW100).

Sunday, November 9, 2008

Nothing is forever but it sure feels that way sometimes

Well I am back into the saddle after a long time when I was forced to focus on other things.

Back into getting 'Think-Tank' some more smarts. Big issue was just to get 'Think-Tank' back to moving and shaking.

It seems the first issue was getting enough juice to the Mega32 - the Brown Out detector was tripping each time I fired up the motors. I'll have to investigate where to put some more caps in addition to those already.

The other issue was task priority. It sprung to life after dropping the priority of the 'Think' task. I think I may have screwed up the portTick value for the delays and Think was firing too fast and as it was top priority, didn't give anyone else a chance.

Hopefully I'll get some time soon to start delving into Think-Tank's mind again soon.