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RoboJackets/robocup-software

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9 Feb 2019
22:49:35@_slack_robojackets_U2YQPBPM2:matrix.orgjneiger3 This is for over the air firmware so we could send releases from soccer to the robots
22:52:45@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman 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:matrix.orgjgkamatconvention 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:matrix.orgjgkamatyou 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@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman 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@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman I think the /opt option is fixable with a startup message "found (or didn't find) a firmware cache in opt"
23:06:08@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman we could have both firmware and software ubuntu-setup scripts make the folder and the chmod/own it
23:09:52@jgkamat:matrix.orgjgkamat+1, sounds like a good idea :)
23:12:35@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman thanks for the consult
23:16:40@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman 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@_slack_robojackets_UCPA3EW7Q:matrix.orgkwstach Wait, what?
23:40:29@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman I think, somehow, 6480 and 3240 are field dims including side margin in mm
23:40:50@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman where the fuck the other numbers come from is beyondme
23:41:27@_slack_robojackets_U2YQPBPM2:matrix.orgjneiger3 lmao, they aren't even being used as far as I can tell
23:41:38@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman yeah they aren't
23:43:35@_slack_robojackets_U2YQPBPM2:matrix.orgjneiger3
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@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman where did u get that? git log?
23:49:12@_slack_robojackets_U2YQPBPM2:matrix.orgjneiger3 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@_slack_robojackets_U2YQPBPM2:matrix.orgjneiger3 lol
Teaches the robots the US National Anthem.

@barulicm
barulicm committed on Jun 25, 2013
10 Feb 2019
00:21:37@_slack_robojackets_UCPA3EW7Q:matrix.orgkwstach Ohhhhhh
00:21:39@_slack_robojackets_UCPA3EW7Q:matrix.orgkwstach Tick is encoder tick
00:21:59@_slack_robojackets_UCPA3EW7Q:matrix.orgkwstach I was thinking Tick=Cycle
00:23:47@_slack_robojackets_UCPA3EW7Q:matrix.orgkwstach I had a few good solid minutes of "Wat." there
00:24:12@_slack_robojackets_U2YQPBPM2:matrix.orgjneiger3 Same
11 Feb 2019
03:29:16@_slack_robojackets_U1R711Y5Q:matrix.orgryanstrat Back in my day, the robots played the GT fight song after scoring a goal
05:21:46@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman We can add a speaker to control v4...
05:23:29@_slack_robojackets_U2YQPBPM2:matrix.orgjneiger3 Im still pushing for a subwoofer cone covering the entire top of the robots. Gotta feel that base
05:24:19@_slack_robojackets_U1T86AW4B:matrix.orgguyfleeman If I didn't know better I would think Leo was typing that on ur account lol
17 Feb 2019
19:14:54@_slack_robojackets_U75VCD1T5:matrix.orgcavidano3 We are doing doing boring dampening test if anyone wants to watch
18 Feb 2019
07:41:22@_slack_robojackets_U2YQPBPM2:matrix.orgjneiger3 I think I got through all the reviews, let me know if there's one I missed

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