Minor bugfixes.

firmware/nbproject/configurations.xml

@@ -787,6 +787,9 @@
         <property key="UART 2" value="true"/>
         <property key="debugoptions.useswbreakpoints" value="false"/>
         <property key="hwtoolclock.frcindebug" value="false"/>
+        <property key="memories.aux" value="false"/>
+        <property key="memories.bootflash" value="false"/>
+        <property key="memories.configurationmemory" value="false"/>
         <property key="memories.eeprom" value="true"/>
         <property key="memories.flashdata" value="true"/>
         <property key="memories.id" value="true"/>

firmware/nbproject/project.xml

@@ -1,4 +1,5 @@
-<?xml version="1.0" encoding="UTF-8"?><project xmlns="http://www.netbeans.org/ns/project/1">
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://www.netbeans.org/ns/project/1">
     <type>com.microchip.mplab.nbide.embedded.makeproject</type>
     <configuration>
         <data xmlns="http://www.netbeans.org/ns/make-project/1">

firmware/source/settings.h

@@ -8,12 +8,12 @@
 #define __SETTINGS_H
 
 
-#warning "REQUIRED: Review and set radio channel & network parameters in firmware/source/settings.h  , then comment out this line."
+//#warning "REQUIRED: Review and set radio channel & network parameters in firmware/source/settings.h  , then comment out this line."
 /////// Radio settings ///////
-#define RADIO_CHANNEL		0x19
+#define RADIO_CHANNEL		0x0B
 //#warning "You have changed the radio channel from 0x0E to something else"
 #define RADIO_SRC_ADDR 		0x2052
-#define RADIO_SRC_PAN_ID  		0x2050
+#define RADIO_SRC_PAN_ID  	0x2130
 //Hard-coded destination address, must match basestation or XBee addr
 #define RADIO_DST_ADDR		0x2051
 

lib/imu.c

@@ -154,5 +154,5 @@ float imuGetBodyZPositionDeg() {
 }
 
 void imuResetGyroZAvg(){
-    filterZero(&gyroZavg);
+    dfilterZero(&gyroZavg);
 }

lib/telem.c

@@ -28,7 +28,7 @@
 #if defined(__RADIO_HIGH_DATA_RATE)
 #define READBACK_DELAY_TIME_MS 3
 #else
-#define READBACK_DELAY_TIME_MS 8
+#define READBACK_DELAY_TIME_MS 12
 #endif
 
 

python/experiment.py

@@ -88,18 +88,13 @@ def main():
     # MOVE_SEG_LOOP_DECL: Turns on move queue looping. value1,value2, and params have no effect.
     # MOVE_SEG_LOOP_CLEAR: Turns off move queue looping.value1,value2, and params have no effect.
     # MOVE_SEG_QFLUSH  : Flushes all following items in move queue. value1,value2, and params have no effect.
-
-    #Constant example
-    #moves = 1
-    #moveq = [moves, \
-    #         135, 135, 10000,   MOVE_SEG_CONSTANT, 0, 0, 0]
 
     #YAW control: Straight then -90 degree turn 
     numMoves = 3
     moveq1 = [numMoves, \
-        150, 150, 2000,   MOVE_SEG_CONSTANT, 0,  0,  0, STEER_MODE_YAW_SPLIT, int(round(shared.deg2count*0.0)),
-        150, 150, 10000,   MOVE_SEG_CONSTANT, 0,  0,  0, STEER_MODE_YAW_SPLIT, int(round(shared.deg2count*-90.0)),
-        150, 150, 10000,   MOVE_SEG_CONSTANT, 0,  0,  0, STEER_MODE_YAW_SPLIT, int(round(shared.deg2count*0.0))]
+        0, 0, 500,   MOVE_SEG_RAMP, 400,  400,  0, STEER_MODE_YAW_SPLIT, int(round(shared.deg2count*0.0)),
+        200, 200, 2000,   MOVE_SEG_CONSTANT, 0,  0,  0, STEER_MODE_YAW_SPLIT, int(round(shared.deg2count*0.0)),
+        200, 200, 500,   MOVE_SEG_RAMP, -400,  -400,  0, STEER_MODE_YAW_SPLIT, int(round(shared.deg2count*0.0))]
 
     #No movements, just for static telemetry capture
     #numMoves = 1

python/shared.py

@@ -2,7 +2,7 @@
 #BS_COMPORT = 'COM3'
 #BS_BAUDRATE = 230400
 #XBee
-BS_COMPORT = 'COM4'
+BS_COMPORT = 'COM12'
 BS_BAUDRATE = 57600
 
 deg2count = 14.375