| 9 Feb 2019 |
| 22:49:35 |  jneiger3 | This is for over the air firmware so we could send releases from soccer to the robots |
| 22:52:45 |  guyfleeman | So at a high level, I'm planning several new radio features. 1) handshake will report all firmware (three files) versions, min and max supported protocol version. 2) OTA firmware updates, can push and force push subsystem or full system updates (if conrolled) 3) due to network reasons, bots will connect to a master instance of software via static IP (maybe a fallback IP or two). For when we want to practice by pinning soccer v. soccer, the master will have the option to "forward" bot traffic to an outbound port. |
| 23:01:27 |  jgkamat | convention wise /opt is the right choice, but I can see it causing confusion with people who aren't familiar with it (also it will require root to install firmware files if needed). Another option is 'forcing' people to put their firmware in a common place like ~/src/robocup-firmware or something, but that's much more hacky. If you change permissions on the /opt/robocup folder first time you make it, it should be possible to update it without root as well. I like the /opt solution the best myself :) |
| 23:02:11 | jgkamat | you could also have soccer depend on firmware though cmake or something, although then you'd need two copies of firmware so I don't like it as much |
| 23:05:03 | guyfleeman | Yeah, I was thinking a dot file config that had soccer point to frimware and do git tree copies into tmp or something but that quickly felt super gross |
| 23:05:31 | guyfleeman | I think the /opt option is fixable with a startup message "found (or didn't find) a firmware cache in opt" |
| 23:06:08 | guyfleeman | we could have both firmware and software ubuntu-setup scripts make the folder and the chmod/own it |
| 23:09:52 | jgkamat | +1, sounds like a good idea :) |
| 23:12:35 | guyfleeman | thanks for the consult |
| 23:16:40 | guyfleeman | 21 // Unit conversions
22 static const float Seconds_Per_Cycle = 0.005f;
23 static const float Meters_Per_Tick = 0.026f 2 M_PI / 6480.0f;
24 static const float Radians_Per_Tick = 0.026f M_PI / (0.0812f 3240.0f);
Spicy code in USBRadio |
| 23:39:37 |  kwstach | Wait, what? |
| 23:40:29 | guyfleeman | I think, somehow, 6480 and 3240 are field dims including side margin in mm |
| 23:40:50 | guyfleeman | where the fuck the other numbers come from is beyondme |
| 23:41:27 | jneiger3 | lmao, they aren't even being used as far as I can tell |
| 23:41:38 | guyfleeman | yeah they aren't |
| 23:43:35 | jneiger3 | Physical units for 2011 robots:
Times are given in control cycles (5ms/cycle).
1440*4.5 = 6480 ticks/rev
Distances are given in encoder ticks.
0.026*2*pi m/rev / (1440*4.5 ticks/rev) = 0.026*2*pi/(1440*4.5) m/tick
Wheel angular distance:
(2*pi rad/rev) / (1440*4.5 ticks/rev) = pi/3240 rad/tick
Robot angular distance:
pi/3240 rad/tick * 0.026 / 0.0812 = pi*.026/(.0812*3240) robot-rad/tick
= 203/776000 rad/tick
|
| 23:44:05 | guyfleeman | where did u get that? git log? |
| 23:49:12 | jneiger3 | It was the git blame back to where the guy commited the constants, then I when through the rest of that commit to find that comment in the radio-protocol-2011.txt |
| 23:53:13 | jneiger3 | lol
Teaches the robots the US National Anthem.
@barulicm
barulicm committed on Jun 25, 2013
|
| 10 Feb 2019 |
| 00:21:37 | kwstach | Ohhhhhh |
| 00:21:39 | kwstach | Tick is encoder tick |
| 00:21:59 | kwstach | I was thinking Tick=Cycle |
| 00:23:47 | kwstach | I had a few good solid minutes of "Wat." there |
| 00:24:12 | jneiger3 | Same |
| 11 Feb 2019 |
| 03:29:16 |  ryanstrat | Back in my day, the robots played the GT fight song after scoring a goal |
| 05:21:46 | guyfleeman | We can add a speaker to control v4... |
| 05:23:29 | jneiger3 | Im still pushing for a subwoofer cone covering the entire top of the robots. Gotta feel that base |
| 05:24:19 | guyfleeman | If I didn't know better I would think Leo was typing that on ur account lol |
| 17 Feb 2019 |
| 19:14:54 |  cavidano3 | We are doing doing boring dampening test if anyone wants to watch |
| 18 Feb 2019 |
| 07:41:22 | jneiger3 | I think I got through all the reviews, let me know if there's one I missed |
