wittsend/aut-swarm-robotics

AUT 2017 BE (hons/tech) final year project

aut-swarm-robotics

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https://gist.github.com/Chaser324/ce0505fbed06b947d962

200th commit!

300th commit! only 9 days later!

aut-swarm-robotics's Issues

Hardware setup error catching

I think it would be a good idea for each hardware init function in robotSetup() to return a value depending on whether the routine was a success. That way the robotSetup() function could set a flag in the sys structure for any pieces of hardware that failed to initialise, preventing them from running. Something else that might be helpful is having the robot upload a log of the hardware initialise process to the PC after initialisation is complete so the PC user can immediately see that there is a problem. Perhaps the GUI could show a set of status lights for a robot when it has been clicked on?

Testmode data streaming

Testmode data streaming is currently broken for unknown reasons. In the testManger function the first check for new Xbee data doesn't work as intended. When enabled data will not be streamed back to the PC and it will only be sent each time a request for data is issued. When disabled the robot will stream data back to the PC as fast as possible and completely block the robot from performing other tasks. This however may be due to the UART issues described in #7 .

UART Driver Implementation

The current implementation is "less than ideal". It blocks the robot from carrying out any other tasks when large amounts of data are transferred. Should move to a system using interrupts and hopefully DMA.

Currently only the Xbee is using UART, buffering issues may also elsewhere in the Xbee driver. Ideally we would have the hardware flow control pins of the Xbee connected to the UART

Pin and port name structure

I'd like to create a C structure that identifies ports and pins all in one place. This kind of structure would allow hardware pins to be changed, without having to go through the code and change every reference to that pin and port. Something like this:

typedef struct IOPin
{
uint32_t PortName;
uint32_t PinName;
} IOPin;