Code

Raceday 2017 - Fully Autonomous#458

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Merged

VivaanBahl merged 167 commits intomasterCMU-Robotics-Club/RoboBuggy:masterfrom vivaan-newAutonImplementationCMU-Robotics-Club/RoboBuggy:vivaan-newAutonImplementationCopy head branch name to clipboardMay 26, 2017

+7,687-282

Commits

Commits on Oct 16, 2016

• added new localizer analysis code

  babraham123

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• added matlab lib to plot map

  babraham123

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Commits on Oct 19, 2016

• new localizer code

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Commits on Oct 20, 2016

• finished localizer code and added analysis script

  babraham123

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Commits on Oct 24, 2016

• new analsyis and localizer fixes

  babraham123

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Commits on Nov 4, 2016

• added skeleton files

  VivaanBahl

  committed
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Commits on Nov 7, 2016

• update

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• Merge branch 'master' into vivaan-newAutonImplementation

  VivaanBahl

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• Fleshed out some of the details of the skeleton class

  VivaanBahl

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Commits on Nov 8, 2016

• added more to the skeleton localizer

  VivaanBahl

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Commits on Nov 12, 2016

• Merge branch 'vivaan-newAutonImplementation' into bereket_localizer

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• buffed out docs

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Commits on Nov 13, 2016

• finished up docs for covariance and the update routine

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• incremental commit

  VivaanBahl

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• Updated the predict step to include the motion model

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• added docs for update, and buffed out docs for predict

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• ballmer peak ftw

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• updated RoboBuggyKFLocalizer

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Commits on Nov 14, 2016

• updating simulator

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• new comments in localizer

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• compilation issues fixed

  VivaanBahl

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• controller

  babraham123

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• Merge branch 'vivaan-newAutonImplementation' of https://github.com/CMU-Robotics-Club/RoboBuggy into vivaan-newAutonImplementation

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• new controller sim

  babraham123

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Commits on Nov 15, 2016

• added top-level comments

  VivaanBahl

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Commits on Nov 16, 2016

• cleanup

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• converted controller to radians

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Commits on Nov 17, 2016

• fixed an issue where the matrices were the wrong sizes

  VivaanBahl

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• added map to the surface to show where pose estimates are

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• localizer comfirmed in simulation

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• Merge branch 'vivaan-newAutonImplementation' of https://github.com/CMU-Robotics-Club/RoboBuggy into vivaan-newAutonImplementation

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• fixed naming issues

  VivaanBahl

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Commits on Nov 18, 2016

• fixed loclizer trajectory analysis

  babraham123

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Commits on Nov 20, 2016

• Matlab controller implementation added

  

  Darshan A Patil

  authored and

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Commits on Nov 21, 2016

• updates to controller sim

  babraham123

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Commits on Dec 3, 2016

• fixed controller sim

  babraham123

  committed
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• Fixed controller simulation bugs

  dapatil211

  committed
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• added steering vel

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Commits on Dec 4, 2016

• minor

  babraham123

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Commits on Dec 5, 2016

• pure pursuit controller works very well!

  babraham123

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Commits on Jan 20, 2017

• ported the matlab controller to java

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Commits on Jan 22, 2017

• prepped buggy for auton testing

  VivaanBahl

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Commits on Jan 26, 2017

• started migration of matlab simulator over to java

  VivaanBahl

  committed
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• minor

  babraham123

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• Merge branch 'vivaan-newAutonImplementation' of https://github.com/CMU-Robotics-Club/RoboBuggy into vivaan-newAutonImplementation

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• Merge branch 'vivaan-newAutonImplementation' of https://github.com/CMU-Robotics-Club/RoboBuggy into vivaan-newAutonImplementation

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• finished first version of simulator

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Commits on Jan 27, 2017

• simulator almost working, had to change everything to radians to cope

  VivaanBahl

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• AWW YEEEE

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  VivaanBahl

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• added skeleton of localizer tester

  VivaanBahl

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• added robot config, still need to test

  VivaanBahl

  committed
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• localizer sim finished for just GPS

  VivaanBahl

  committed
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• added steering angle clamping

  babraham123

  committed
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• finished version 1 of localizer simulator

  VivaanBahl

  committed
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• cleanup

  VivaanBahl

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• cleanup and fixed odom #blessed

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Commits on Jan 28, 2017

• minor changes, added logging fix

  VivaanBahl

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Commits on Jan 29, 2017

• fixed a critical bug in the system where the localizer sent the

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• fixed a critical bug in the system where the localizer sent the

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• Merge branch 'vivaan-newAutonImplementation' of https://github.com/CMU-Robotics-Club/RoboBuggy into vivaan-newAutonImplementation

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Commits on Feb 4, 2017

• edits to WayPointFollowerPlanner

  abhinavGirish

  committed
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• edits to WayPointFollowerPlanner

  abhinavGirish

  committed
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• removed the stupid angle int conversion from the messages

  VivaanBahl

  committed
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• generified the software clamping

  VivaanBahl

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• added v1 of pid stabilization

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Commits on Feb 10, 2017

• toolchain fixes

  VivaanBahl

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Commits on Feb 11, 2017

• changed offline analysis to handle triangle test route

  babraham123

  committed
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Commits on Feb 14, 2017

• testing fixes and setup for Friday

  VivaanBahl

  committed
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Commits on Feb 17, 2017

• disabled PID and reenabled lookahead

  VivaanBahl

  committed
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Commits on Feb 18, 2017

• removed PID from steering controller, fixed lookahead distance calculation

  babraham123

  committed
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• merge fix

  babraham123

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Commits on Feb 24, 2017

• added current waypoint to the map display

  VivaanBahl

  committed
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Commits on Feb 25, 2017

• added skeleton of imu integration in kalman filter

  VivaanBahl

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• forgot about the degrees to radians issue

  VivaanBahl

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• new controller analysis files

  babraham123

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• Merge branch 'vivaan-newAutonImplementation' of https://github.com/CMU-Robotics-Club/RoboBuggy into vivaan-newAutonImplementation

  babraham123

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• get heading estimation from IMU compass

  babraham123

  committed
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• fixes for playback robot

  VivaanBahl

  committed
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• Revert "fixes for playback robot"

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• Revert "get heading estimation from IMU compass"

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• Revert "forgot about the degrees to radians issue"

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• Revert "added skeleton of imu integration in kalman filter"

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• added current commanded angle to the GUI printout

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• fixed issues

  VivaanBahl

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• added more info to gui,

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Commits on Feb 26, 2017

• testing new controller sim

  babraham123

  committed
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• Merge branch 'vivaan-newAutonImplementation' of https://github.com/CMU-Robotics-Club/RoboBuggy into vivaan-newAutonImplementation

  babraham123

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• fixed steering controller, tested new version

  babraham123

  committed
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Commits on Feb 28, 2017

• added a limit on how many waypoints we consider for picking

  VivaanBahl

  committed
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Commits on Mar 3, 2017

• reworked the controller tester to start at the first waypoint instead of

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Commits on Mar 7, 2017

• style

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Commits on Mar 29, 2017

• @agirish wrote a fix to stop the localizer from transmitting until we

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Commits on Mar 31, 2017

• added steering feedback into the localizer

  VivaanBahl

  committed
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Commits on Apr 3, 2017

• minor fixes and added skeleton of new simulation toolbox

  VivaanBahl

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• filled in init routine for new sim toolbox

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• added better sim toolbox

  VivaanBahl

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Commits on Apr 4, 2017

• added noise and disabled periodicity of simulator

  VivaanBahl

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• changed noise covariance matrices to fit better with what we actually

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Commits on Apr 5, 2017

• added skeleton of polynomial path planner

  VivaanBahl

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• added current waypoint into logs

  VivaanBahl

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• testing fixes

  VivaanBahl

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Commits on Apr 6, 2017

• swapped out Pure Pursuit for Stanley controller

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• added in extremely crude dynamic GPS covariance

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• this is a terrible commit and i should feel bad about it

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• continuing the disgusting code quality

  VivaanBahl

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• added in the controller to avoid trusting sudden changes in the

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• added mroe to the polynomial planner

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Commits on Apr 7, 2017

• finished polynomial planner

  VivaanBahl

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• turns out doing the max allowable angle diff thing makes the stanley

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• turns out the polynomial planner was a bust, we keep getting singular

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• tuned stanley controller from the simulation

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Commits on Apr 8, 2017

• fixed math error in the Stanley controller

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• removed dumb import

  VivaanBahl

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• rolls code

  VivaanBahl

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• Merge branch 'vivaan-newAutonImplementation' of https://github.com/CMU-Robotics-Club/RoboBuggy into vivaan-newAutonImplementation

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Commits on Apr 9, 2017

• added a Config robot to directly edit the config file

  VivaanBahl

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• forgot about other conflicts

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Commits on Apr 10, 2017

• fixed playback

  VivaanBahl

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• added in version 2 of the pure pursuit contoller

  VivaanBahl

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Commits on Apr 11, 2017

• added more stanley fixes

  VivaanBahl

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Commits on Apr 12, 2017

• localizer fixes

  VivaanBahl

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Commits on Apr 13, 2017

• the gps has been actually fairly accurate, so we are choosing to trust it more

  VivaanBahl

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• pretty ballsy move here but if it works itll be legend

  VivaanBahl

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• more tuning fixes

  VivaanBahl

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• forgot to reinclude ackermann steering

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Commits on Apr 18, 2017

• testing fixes

  VivaanBahl

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• added untested course correction code

  VivaanBahl

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• made the switchover more aggressive

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Commits on Apr 19, 2017

• this will go down as one of the ballsiest moves in the history of the

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• Merge branch 'vivaan-newAutonImplementation' of https://github.com/CMU-Robotics-Club/RoboBuggy into vivaan-newAutonImplementation

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• ran simulations and fixed issues that came up

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Commits on Apr 23, 2017

• Merge branch 'master' into vivaan-newAutonImplementation

  VivaanBahl

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Commits on Apr 26, 2017

• raceday commit

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• Merge branch 'vivaan-newAutonImplementation' of https://github.com/CMU-Robotics-Club/RoboBuggy into vivaan-newAutonImplementation

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Commits on Apr 28, 2017

• Stupid stuff

  

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Commits on Apr 30, 2017

• moved all the data from the current state matrix into the rest of the

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• forgot about this one

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Commits on May 5, 2017

• cleaned up comments and moved them to more appropriate place

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• removed cancerous commented code

  VivaanBahl

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• fixes to Robots

  VivaanBahl

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• fixed sim tools

  VivaanBahl

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• fixed testing code kerfuffle

  VivaanBahl

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• fixed static analysis inconsistencies

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• Cleaned up RobobuggyMainFile

  dapatil211

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• Removed star import in Util.java

  dapatil211

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• Removed unused controller code from WayPointFollowerPlanner

  dapatil211

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Commits on May 20, 2017

• removing waypoint .txt files

  abhinavGirish

  committed
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• removing waypoint .txt files

  abhinavGirish

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• removing waypoint txt files

  abhinavGirish

  committed
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• removing duplicate method

  abhinavGirish

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• eliminating magic nums in simrobot

  abhinavGirish

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• removed localizer.java

  abhinavGirish

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Commits on May 21, 2017

• fixing magic nums again

  abhinavGirish

  committed
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• renaming constants

  abhinavGirish

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• took care of more constants

  abhinavGirish

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• deleted unnecessary folder

  abhinavGirish

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Commits on May 22, 2017

• changing localizer tester so correct getDistance method is used

  abhinavGirish

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Commits on May 23, 2017

• fixing style on most things

  abhinavGirish

  committed
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• last changes to style

  abhinavGirish

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• changed naming in the controller tester to be more accurate

  VivaanBahl

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Commits on May 25, 2017

• Removed file notes.txt in offline/localizer per Vivaan's comments

  

  sbhotika

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• Removed some obsolete packages per earlier code review

  

  sbhotika

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• Merge branch 'vivaan-newAutonImplementation' of https://github.com/CMU-Robotics-Club/RoboBuggy into vivaan-newAutonImplementation

  

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• Cleaning up code

  

  sbhotika

  committed
  5938c1a

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• corrected a typo from 'jason' to 'json'

  

  sbhotika

  committed
  0658e07

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Commits on May 26, 2017

• Merge branch 'master' into vivaan-newAutonImplementation

  VivaanBahl

  authored
  08406c9

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• fixed findbugs issues

  VivaanBahl

  committed
  4fe136c

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