Category Archives: C++

#ifdef Switches, Sensors

Yo–I moved NotifyImage (and thus all the calls to the vision processing, brain functioning) and NotifySensors methods into for simplicity.  It just got annoying going into all the time.

Also, because we keep switching between the two vision systems, between color table thresholding and our old vision.cfg thresholding, between using localization and not, using python and not, using the brain and not, etc–I’ve implemented a bunch of #ifdef and #ifndef preprocessors to make this toggling easier.  Basically: no more commenting out methods or large swathes of code in NotifyImage–just comment/uncomment the #define switches at the top of the file. This should make things a lot easier.

Lastly,  I’ve begun to make the sensors more useful.  Initially, it’s just the touch sensors but I’m going to give some people the job of using distance sensors and acceleration estimators to some kind of advantage.  Hopefully some dead reckoning and some extra distance estimation will work out.

Hello, World!

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flickr: northern_bites / photo: hello_world.jpg.

After many frustrating days and numerous debugging styles, I’ve finally gotten Python to run on Aperios!

I’ve often read that good Programmers are not amazingly proficient coders but they instead excel at debugging their own code. Boy–do I need to get better at this. The technique that finally got things going was taking the entirety of the 2005 rUNSWift code and widdling it down to the Python layer. This allowed me to step incrementally while making sure things stay working. Long process–but I learned heaps about Aperios, Python, and C++ in general.