Merge branch 'master' into tiffany_shield_update

CMU-Robotics-Club · Oct 14, 2019 · 702be98 · 702be98
2 parents eb11e9a + 9465dbf
commit 702be98
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Showing 95 changed files with 6,806 additions and 3,786 deletions.
diff --git a/Electrical/Transistor/code/lib_avr/encoder/Encoder.h b/Electrical/Transistor/code/lib_avr/encoder/Encoder.h
diff --git a/Electrical/Transistor/code/lib_avr/encoder/Rotary.cpp b/Electrical/Transistor/code/lib_avr/encoder/Rotary.cpp
diff --git a/Electrical/Transistor/code/lib_avr/encoder/Rotary.h b/Electrical/Transistor/code/lib_avr/encoder/Rotary.h
diff --git a/Electrical/Transistor/code/radio_buggy_mega/arduinoReset.py b/Electrical/Transistor/code/radio_buggy_mega/arduinoReset.py
@@ -1,15 +1,15 @@
-#! /usr/bin/python
-
-import serial
-import time
-import sys
-
-if len(sys.argv) != 2:
-    print "Please specify a port, e.g. %s /dev/ttyUSB0" % sys.argv[0]
-    sys.exit(-1)
-
-ser = serial.Serial(sys.argv[1])
-ser.setDTR(1)
-time.sleep(0.5)
-ser.setDTR(0)
+#! /usr/bin/python
+
+import serial
+import time
+import sys
+
+if len(sys.argv) != 2:
+    print "Please specify a port, e.g. %s /dev/ttyUSB0" % sys.argv[0]
+    sys.exit(-1)
+
+ser = serial.Serial(sys.argv[1])
+ser.setDTR(1)
+time.sleep(0.5)
+ser.setDTR(0)
 ser.close()
diff --git a/Electrical/Transistor/code/radio_buggy_mega/main.cpp b/Electrical/Transistor/code/radio_buggy_mega/main.cpp
@@ -555,6 +555,7 @@ int main(void) {
                 dbg_printf("RC Timeout! %lu %lu %lu\n", delta1, delta2, delta3);
             } else {
                 g_errors &= ~_BV(RBSM_EID_RC_LOST_SIGNAL);
+                lights_rc.Disable();
             }
 
             // then check for timeout under autonomous
@@ -565,6 +566,7 @@ int main(void) {
                 dbg_printf("Auton Timeout! %lu %lu\n", delta4, delta5);
             } else {
                 g_errors &= ~_BV(RBSM_EID_AUTON_LOST_SIGNAL);
+                lights_auton.Disable();
             }
         // or reset the system if connection is back and driver engages brakes
         } else { 

diff --git a/Legacy/offline/controller/controller_analysis.m b/Legacy/offline/controller/controller_analysis.m
@@ -6,7 +6,7 @@
 addpath('../localizer/latlonutm/Codes/matlab');
 addpath('../localizer/altmany-export_fig');
 
-file = 'controller_v2.mat';
+file = 'controller_v3.mat';
 load(file, 'trajectory');
 save_plot = false;
 show_maps = true;
@@ -16,7 +16,7 @@
 desired = [x y];
 desired = desired(112:(end-50), :);
 
-k = 1000;
+k = 1000;   
 if show_maps
     wmline(trajectory(6,1:k:end), trajectory(7,1:k:end), 'Color', 'r')
 end
@@ -25,7 +25,7 @@
 figure();
 hold on;
 plot(trajectory(1,1:k:end), trajectory(2,1:k:end))
-quiver(trajectory(1,1:k:end), trajectory(2,1:k:end), cos(heading), sin(heading))
+quiver(trajectory(1,1:k:end), trajectory(2,1:k:end), cos(heading), sin(heading), 0.3)
 plot(desired(:,1), desired(:,2), 'g')
 hold off;
 title(['Map ', file]);

diff --git a/Legacy/offline/controller/waypoint_analysis.m b/Legacy/offline/controller/waypoint_analysis.m
@@ -6,7 +6,7 @@
 addpath('../localizer/latlonutm/Codes/matlab');
 show_maps = false;
 
-load('./waypoints_course.mat');
+load('./waypoints_course_v2.mat');
 [x, y, zone] = ll2utm(logs);
 desired = [x y];