- small fixes and documentation

francisc0garcia · Mar 17, 2017 · 053a87e · 053a87e
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Showing 36 changed files with 8 additions and 54 deletions.
diff --git a/.gitignore b/.gitignore
diff --git a/.idea/misc.xml b/.idea/misc.xml
diff --git a/.idea/modules.xml b/.idea/modules.xml
diff --git a/.idea/suricate_robot.iml b/.idea/suricate_robot.iml
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
diff --git a/README.md b/README.md
diff --git a/arduino/power_control/power_control.ino b/arduino/power_control/power_control.ino
diff --git a/arduino/power_control_noLED/power_control_noLED.ino b/arduino/power_control_noLED/power_control_noLED.ino
diff --git a/docs/Makefile b/docs/Makefile
diff --git a/docs/make.bat b/docs/make.bat
diff --git a/docs/source/conf.py b/docs/source/conf.py
diff --git a/docs/source/contact.rst b/docs/source/contact.rst
diff --git a/docs/source/description.rst b/docs/source/description.rst
diff --git a/docs/source/index.rst b/docs/source/index.rst
diff --git a/docs/source/installation.rst b/docs/source/installation.rst
diff --git a/docs/source/media/suricate_hardware_tasks.png b/docs/source/media/suricate_hardware_tasks.png
diff --git a/docs/source/questions.rst b/docs/source/questions.rst
diff --git a/docs/source/tutorials.rst b/docs/source/tutorials.rst
diff --git a/launch/odroid_init.launch b/launch/odroid_init.launch
diff --git a/simulation/robot_micro.perspective b/simulation/robot_micro.perspective
diff --git a/simulation/rqt_multiplot_config.xml b/simulation/rqt_multiplot_config.xml
diff --git a/simulation/rviz_config.rviz b/simulation/rviz_config.rviz
diff --git a/simulation/worlds/suricate.world b/simulation/worlds/suricate.world
diff --git a/simulation/worlds/suricate_v1.world b/simulation/worlds/suricate_v1.world
diff --git a/simulation/worlds/suricate_v2.world b/simulation/worlds/suricate_v2.world
diff --git a/simulation/worlds/suricate_v3.world b/simulation/worlds/suricate_v3.world
diff --git a/src/classes/ControllerPosition.py b/src/classes/ControllerPosition.py
diff --git a/src/classes/HT16K33/EightByEight.py b/src/classes/HT16K33/EightByEight.py
diff --git a/src/classes/HT16K33/_HT16K33.py b/src/classes/HT16K33/_HT16K33.py
diff --git a/src/classes/HT16K33/matrix_symbols.py b/src/classes/HT16K33/matrix_symbols.py
diff --git a/src/classes/PoseRobot.py b/src/classes/PoseRobot.py
diff --git a/src/classes/arduinoI2C.py b/src/classes/arduinoI2C.py
diff --git a/src/classes/linear_kalman_filer.py b/src/classes/linear_kalman_filer.py
diff --git a/src/robot_controller_LQR_V1.py b/src/robot_controller_LQR_V1.py
@@ -167,7 +167,7 @@ def update_controller(self):
         self.xi_des = self.desired_x
         self.psi_des = 0
 
-        x = np.array( [v_xi - self.xi_des , v_psi - self.psi_des, v_phi, dv_xi, dv_psi, dv_phi])
+        x = np.array( [self.v_xi - self.xi_des , v_psi - self.psi_des, v_phi, dv_xi, dv_psi, dv_phi])
         x_transposed = np.transpose(x)
 
         #k_dr = np.array(  [(-1.05, -0, -160.72 , -4.4415,  0, -40.751), # Ts  = 0.1
@@ -212,9 +212,9 @@ def update_controller(self):
         self.wrench_cmd.torque.z = self.bound_limit(u[1] * self.gain_LQR * 1, -2, 2)
         self.pub_wrench.publish(self.wrench_cmd)
 
-        self.angle_msg.data = dv_phi #* rad2degrees
+        self.angle_msg.data = v_phi #* rad2degrees
         self.pub_angle.publish(self.angle_msg )
-        self.path_msg.data = dv_xi
+        self.path_msg.data = self.v_xi
         self.pub_path.publish(self.path_msg)
 
     def disable_controller(self):

diff --git a/src/sample_wifi_config_rasp_odroid.txt b/src/sample_wifi_config_rasp_odroid.txt
diff --git a/src/visual_odometry.cpp b/src/visual_odometry.cpp