Adding octoroach specific lib

README.txt

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+Last updated 8/3/2011
+
+
+This directory will contain a stable version for the code for the OctoROACH robot,
+intended to provide an "out of the box" working code base.
+
+
+
+Instructions:
+-------------
+To be done later.
+
+
+
+Python:
+---------
+Running the OctoRoACH code will require you to install a python interpreter, as well as several libraries.
+
+For academic applications, a bundled product by Enthought (www.enthought.com) will contain most of these libraries.
+You MUST install a 32bit version. 64bit python is known to not have sufficient library support to work.
+
+Specifically, you will need:
+* pySerial
+* numPy
+* xbee-python
+
+- shared.py is used as a "global" module, to elide the need for long lists of "global" keywords in other scripts.
+  *** IMPORTANT: Configuration of the COM port and baud rate of your Xbee/15.4 dongle is set by variables in shared.py
+- callbackFunc.py contains the callback function used by the xbee-python library. It is kept in a separate file such
+	that any additions or changes will be synchronized across all the user's python scripts.
+	A dictionary of packet formats is also located in callbackFunc.py. If you are adding a command to the robot,
+	you must add the callback handler here, as well as the packet format.
+- command.py contains the command codes for the robot.
+	*** Because the command set for the robot is not standardized or enforced in any way, you MUST manually synchronize
+		the listings in command.py and cmd.c/cmd.h if any modifications are made.
+
+
+
+Firmware:
+-----------
+The firmware for the OctoRoACH robot is implemented in plain C, to be run on the dsPIC33g microcontroller on the
+ImageProc2 v2.4 board.
+The code has been developed and tested with the MPLAB C30 compiler, under and academic use license.
+A project file for use with the MPLAB IDE is provided; code was programmed to the board with a MicroChip ICD3 tool.
+
+The source code is in two locations:
+- lib/ contains code broken into modules, aligned to specific functions of the robot. See code comments
+	    for more information.
+- octoroach/ contains the MPLAB project files
+- octoroach/source/ contians the main.c, which largely just setups up the board and other modules, and cmd.c and cmd.h,
+	which describe the command set that the robot will repond to over the 15.4 radio.
+	*** Because the command set for the robot is not standardized or enforced in any way, you MUST manually synchronize
+		the listings in command.py and cmd.c/cmd.h if any modifications are made.
+
+The project is delivered with a compiler directive error purposely inserted into a header file, where the radio settings
+defined. It is REQUIRED that the user modifies these settings, and comments out the error directive.
+
+
+There are several compile-time defines available:
+
+__RADIO_HIGH_DATA_RATE : operates the 15.4 radio in 500Kbps mode and accordingly reduces some feedback delays. Only use this
+			option if you are using the Fearing Lab 802.15.4 USB dongle at 230Kbaud.
+__DFMEM_8MBIT / __DFMEM_16MBIT / __DFMEM_32MBIT:
+			This option must correspond to the size of the AT45 serial flash chip installed on the boad. It is
+			required to have at least one of these options defined.
+
+
+Radio:
+------------
+The ImageProc2 v2.4 board uses an 802.15.4 radio for communication. Operation has been tested with an XBee module and the Fearing Lab 802.15.4 USB dongle.
+The user is required to review and change the radio settings before the firmware project will compile. No binaries images with pre-set
+radio addresses are provided at this time.

firmware/octoroach.mcp

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