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Commits on Dec 10, 2016

• Moved states to classe. Still needs to be tested

  

  vargoal

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• Slight tweak to special case. Based on testing this works. Also I need to change edge detect threshold.

  

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• Moved drive control to seperate class. Made some small tweaks to main because of change. Also updated wheel base to be more accurate

  

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• Added a rates.h file to clean up setting of control loop rates. I also corrected a few comments

  

  vargoal

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• Just copied odometry file to main robot code as it has the most working

  

  vargoal

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• Added libraries to tracked files

  

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• Added oscope readouts from IR testing

  

  vargoal

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Commits on Dec 8, 2016

• Added part of special case; Needs tuning also wheel base works better at 9 in than 11 so investigate

  

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• addded delay before turn and slowed turn

  

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• Fixed turning directions

  

  vargoal

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• Works for turns but needs delay and special case walls

  

  vargoal

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• Stops correct distance from wall now

  

  vargoal

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• just added if to handle if we turn by more than 360 degrees

  

  vargoal

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• Working odemetry;no IMU;Sketch testing of dist shows accuracy

  

  vargoal

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Commits on Dec 7, 2016

• Working PID values for PID fusion wall following

  

  vargoal

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• Added theta to wall math

  

  vargoal

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• Working wall follow using only distance

  

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Commits on Nov 21, 2016

• Working wall follow but some tuning needed

  

  vargoal

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Commits on Nov 19, 2016

• Working PID with our motors, my pid, and no floats. Still need to implement both motors and test driving straight

  

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Commits on Nov 14, 2016

• Added front distance and side control. Not yet tested.

  

  vargoal

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• Working wallmath and IR code. Testing shows position within 0.2 in

  

  vargoal

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Commits on Oct 31, 2016

• Both sides motor control at 16 khz works with OScope. Still a littl noise when low.

  

  vargoal

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• Working 16khz pwm on pin 5 using timer 3. Setting it to zero has a lot of noise so should actually just drive low.

  

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Commits on Oct 30, 2016

• Created main.ino

  

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