This is a snapshot of the current source code.
-- SalomonTrujillo - 22 Sep 2006
The Stickybot Force Controller broken into a single high-level controller and multiple lower-level controllers which are each associated with a state (i.e. stroke, flight...). Each leg is always in one of the states, and is thus assigned to the corresponding low-level controller. The high-level controller handles the leg's transistion from one state to another. Thus, the high-level controller is responsible for overall behavior.
-- SalomonTrujillo - 14 Jul 2006
-- SalomonTrujillo - 27 Jul 2006
Module | Status | Current Owner |
---|---|---|
Display(LED's) | Done | BarrettHeyneman |
Key Press | Done | BarrettHeyneman |
I2C? | Done | BarrettHeyneman |
Serial | Need to add servo commands (all other commands are tested) |
SalomonTrujillo |
Flash | Done | BarrettHeyneman |
Servo | In Progress | SalomonTrujillo |
File Reader | In Progress | SalomonTrujillo |
Servo.c
Private PWM()(UART Receive?)
SetServo(#, val)
SetServos(vals)
Initialize()
FileReader.c
getHome(array)
getUpperLimit(array)
getLowerLimit(array)
-- SalomonTrujillo - 18 Jul 2006
The first version of the controller will only handle one gait. The comm protocol is used to download this single gait into a prescribed position in program memory. Thie GaitFileFormat? page has the details on the format of this file.
-- SalomonTrujillo - 14 Jul 2006
The first version of the protocol will only upload a file of data to the PIC in 128 byte blocks. These will be saved into the program memory. If the file is not completely divisible by 128, pad the memory with 0xFF's (since all 1's represent a null write to flash memory.)
CommProtocolCommands?
-- SalomonTrujillo - 10 Jul 2006
These are the headers for the completed (or so we think) C modules for the Stickybot controller firmware. The headers themselves are pretty well commented, so no explanation is included here.
-- BarrettHeyneman - 10 Jul 2006
We are experiementing with using a hall effect sensor as a linear position sensor: HallEffectSensorDetails?
-- SalomonTrujillo - 07 Aug 2006