I have written a protected page describing how to use aiboConnect and what all of the different joint angles are for the head and legs. In addition, I describe the head literal and the motion engines. Soon I will put up diagrams to go along with the instructions, which will simplify the descriptions considerably.
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Importing the plug-ins now. Do people like the design?
Just a reminder: Meeting 4pm Tuesday afternoon, in the lab. For those foreign to RoboCup so far, please feel free to come! We’ll have demostrations of progress so far in these areas:
-Head, Chest, Trapping Moves.
-Ball recognition via new ‘Subvision’ method
-Examples of some of the Localization math
-The first behavior of this year: Following the head with the ball
-Simple string bouncing between aibos.
Good C++ Editor for Windows: Dev-C++
I’ve fulfilled my life-long dream to make a really smart message parser for AiboConnect’s server side. W00t!! Also, fixed the ‘timed’ head motions so that they, you know, work. Anyone know how timer functions work on Aperios?
Pat and Jesse are making great strides with the Localization system. We’re basically imitating the Monte Carlo localization that all the serious RoboCup teams employ–but we hope to have a few cool, innovative add-ons as the months go on. The great thing about all this is that we are just using a c++ compiler to check over all the math and programming without using the Aibo itself. This saves time in compilation, making memory sticks, and having to turn the Aibo on/off.
We have five new USB mice for the Lab! We have a recycling bin in the front–use it! The fridge is stocked with caffeinated drinks, so reward yourself for working hard! Or if your throat is parched. Really, either way.
Because I am all that is Robots, I will be presenting a weekly segment entitled ‘Lesson of the Week’ to my fellow cohorts on the Northern Bites RoboCup team.
This week’s installment? Managing Conflicts in Subversion.
What are conflicts? Conflicts happen when you ‘svn up’ and someone else’s editions to the code have messed with your own.
Subversion handles recognizing conflicts, but leaves you up to dealing with them. Subversion leaves for every conflicting file four different files:
CONFLICTFILE — I.E., this could be Vision.cc or makefile.config or whatever.
–Subversion places a bunch of ‘< <>>’ in the code, separating the conflicts between your edits and the other person’s. You can go through line by line and fix the conflicts this way.
…Plus three more. Continue Reading….
Now instead of arbitrarily choosing a point inside the ball as its center, we calculate the center using three points on the perimeter. It’s like, more accurate, and stuff.
If you find yourself sitting in front of either ‘searles128tmp1’ or ‘searles128tmp2’ –one of the two new G5’s in the Lab–don’t use it yet. They are yet to be tooled to our robotic standards.