Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Changes

RevisionDateWhoCommit message
58:c0b09adb2997 2013-12-04 calamaridudeman KANKAN CAN DO STUFF!!!! default tip
57:dfea5d24d650 2013-12-03 calamaridudeman KANKAN JUMPED 9 TIMES
56:7015e2e79ea7 2013-12-03 calamaridudeman force control works :3
55:ff84fbdfd1d1 2013-12-02 calamaridudeman everything except SLIP/flight stuff works
54:17ea4b3c80de 2013-12-02 calamaridudeman calibrated encoders, here's to hoping they don't get messed up. getAngles should all return proper angles now. Ground detection is primed to be double checked in the morning
53:978b7fa74080 2013-12-02 calamaridudeman shin works too, now to get event detection
52:b168d1194819 2013-12-02 calamaridudeman no idea
51:0982adf6ba63 2013-12-02 sherryxy thigh works now, almost got shin working
50:510ce69c2a10 2013-12-01 sherryxy thigh can go to precise angles
49:3aaa790800ad 2013-12-01 sherryxy trying to get calibration working
48:8f0e007bd305 2013-12-01 sherryxy landing detection tests with kankan control
47:e01ba47d11cc 2013-12-01 alexc89 Pushing again;
46:4497e945de6b 2013-12-01 alexc89 SLIP model implemented. Jacobian being worked on.
45:0db0fc9f77b1 2013-12-01 alexc89 Pos and Velocity Control Checked. Phase detection and control structure implemented and checked.
44:3566c5699ba6 2013-11-27 calamaridudeman moved the default for the control switch to the top of the list, should work now?
43:68faf056ed5c 2013-11-26 calamaridudeman trying to get setTorque to work
42:2b887cb6a98a 2013-11-26 calamaridudeman testing invKin
41:65de628f701f 2013-11-26 calamaridudeman Just fiddling with values
40:917b6cced6ca 2013-11-26 sherryxy lengths
39:b765b6dd01c3 2013-11-26 sherryxy lengths
38:922f2584bdfd 2013-11-26 calamaridudeman motors now move! Unknown cause, pwm freq is now being set just before every setting of duty cycle, not sure why this is needed
37:bf257a0154db 2013-11-24 calamaridudeman integrated sams inverse kinematics code
36:a552d352f1a5 2013-11-24 calamaridudeman added joint datatype
35:a4e89e78d034 2013-11-24 Sparker With inverse kinematics;
34:f3a1273e3361 2013-11-19 Sparker includes equation for inverse kinematics;
33:2a96d2e00b46 2013-11-18 Sparker slave mbed
32:da7a22208c19 2013-11-12 Sparker sparker edit;
31:d079a9d70407 2013-11-24 calamaridudeman added inv kinematics skeletons
30:18724a8fb2bf 2013-11-24 calamaridudeman encoders are at least all reporting correctly. Kangaroo now houses the kangaroo class, leaves room in dynamics for inverse kinematics etc.
29:33c5c61f1068 2013-11-24 calamaridudeman Added & everywhere (including fields!) to ensure no copying of encoders (which breaks the interrupts). All motor encoders reporting properly now
28:21773a6fb6df 2013-11-24 calamaridudeman Motor class is wrong, but motor encoders work so far
27:4db137d6ea6e 2013-11-24 calamaridudeman modified QEI library to zero the pulse count when it hits the index. Set up test code for sensors and motors, still need high-level and internal model code
26:53b793b7a82f 2013-11-24 calamaridudeman ready to test sensors and code up to motors and sensors. Still need path planning and higher-level control
25:8a34b8d6cc6e 2013-11-19 calamaridudeman modified master to start integrating motors
24:8e7cc6a2e214 2013-11-19 calamaridudeman fixed all the java<->cpp confusion
23:112c0be5a7f3 2013-11-19 calamaridudeman fixed all the java-esque code to be cpp, have bezier and geometry code working solid
22:4d85d989af08 2013-11-19 calamaridudeman fixed java<->cpp confusion
21:a9569c7b4379 2013-11-19 calamaridudeman Probably abandoning this, I only edited spimast and spislave but we are hopefully moving to a single mbed
20:97ab3d4c07b6 2013-11-19 calamaridudeman started trying to compile, really not working due to no default constructor errors
19:eb103ff74671 2013-11-19 calamaridudeman added motor files to provide code for controlling them
18:fe35916655fa 2013-11-18 calamaridudeman add comm and dynamics files, started writing master and slave protocols
17:78208ab2d643 2013-11-19 sherryxy communication_noninterrupt
16:c21df8c0c458 2013-11-18 calamaridudeman added dynamics files to store functions for calculating forces etc. Brushed up some geom files
15:4edd16cdc84b 2013-11-18 calamaridudeman moved some methods to geom.h, implemented lots of the methods described there
14:838799592c01 2013-11-13 sherryxy merge;
13:8f54a702b9aa 2013-11-12 sherryxy communication chipselecting1
12:99c0f833a7de 2013-11-12 sherryxy SPI device
11:f081f6662d8d 2013-11-12 calamaridudeman Started skeleton header file for Master
10:e52a6e1bbb48 2013-11-12 calamaridudeman added ryan's motor code, started working on master Mbed code
9:2709c14ad84b 2013-11-12 calamaridudeman Added library files
8:dc13c3be6838 2013-11-12 calamaridudeman added my motor code
7:2af0f959f978 2013-11-12 calamaridudeman merged AC and me; ; #realtalk to Sam
6:01480e5825e6 2013-11-12 calamaridudeman #realtalk
5:b8b1491ebba3 2013-11-12 alexc89 Test - AC;
4:e8a9ff323e8e 2013-11-12 pinocchio_s994 commenting
3:0d358600bd98 2013-11-12 pinocchio_s994 sam;
2:e0a831fdfbeb 2013-11-12 pinocchio_s994 testing commit capabilities
1:e0026d931db3 2013-11-12 pinocchio_s994 hi sam
0:4b174e2f21c5 2013-11-12 pinocchio_s994 testin simultaneous edit