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move the transmitter doc. fix the id in send_pos.py

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1 parent ed69dcc commit 8a9f050df4d585b7f63793d77fff56e71f3d3994 Ted Hansen committed Jun 5, 2012
Showing with 60 additions and 56 deletions.
  1. +3 −54 README
  2. +1 −2 code/arena/send_pos.py
  3. +56 −0 code/rkf_xmit/README
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57 README
@@ -1,56 +1,5 @@
+code/arena/ python script that interfaces to the camera and sends commands to the transmitter
+code/rkf_xmit/ arduino code for the transmitter
-Transmitter:
-
-The transmitter is attached to the host PC via USB. Commmands are sent by opening the appropriate
-serial port and writing newline-terminated strings.
-The arduino code on the transmitter repeatedly sends a packet held in memory.
-The structure of the packet is defined in rkf_packet.h
-
-
-
-Transmitter command summary:
-
- start <xmit_period> <baudrate>
- pos <robot_num> <x> <y> <heading> <valid>
- reset
- data <byte0> <byte1> ... <byte26>
-
-
-
-Transmitter commands:
-
-
-start <xmit_period> <baudrate>
-
- On reset, the transmitter sends nothing until the start command is sent.
- Once the start command is sent, the transmitter continually sends the packet in memory.
- You may optionally specify the transmit repeat period in milliseconds (default 500)
- and the RF baud rate (default 2400).
-
- example: start 100 2400
-
-
-
-pos <robot_num> <x> <y> <heading> <valid>
-
- The packet consists of a some header bytes and an array of 8 robot position structures.
- Use the "pos" command to modify one of the robot positions.
-
- parameters:
-
- robot_num index of the position structure to modify. 0 to 7
- x the x coordinate. 0 to 255
- y the y coordinate. 0 to 255
- heading the direction the bot is facing. 0 to 15
- valid flag indicating whether position report n contains valid data. 0 or 1
-
-
-
-
-
-
-reset
-
- The reset command makes the transmitter stop transmitting and clears the packet buffer.
-
+3d_model/ google sketchup design files
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@@ -25,8 +25,7 @@
while 1:
tracking.update()
for obj in tracking.objects():
- session_id = obj.sessionid
- # TODO: Need to somehow match this to robot id
+ id = obj.id
x = int(obj.xpos * ARENA_SIZE_UNITS[0])
# y-axis is inverted, to match Cartesian coordinates
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@@ -0,0 +1,56 @@
+
+
+Transmitter:
+
+The transmitter is attached to the host PC via USB. Commmands are sent by opening the appropriate
+serial port and writing newline-terminated strings.
+The arduino code on the transmitter repeatedly sends a packet held in memory.
+The structure of the packet is defined in rkf_packet.h
+
+
+
+Transmitter command summary:
+
+ start <xmit_period> <baudrate>
+ pos <robot_num> <x> <y> <heading> <valid>
+ reset
+ data <byte0> <byte1> ... <byte26>
+
+
+
+Transmitter commands:
+
+
+start <xmit_period> <baudrate>
+
+ On reset, the transmitter sends nothing until the start command is sent.
+ Once the start command is sent, the transmitter continually sends the packet in memory.
+ You may optionally specify the transmit repeat period in milliseconds (default 500)
+ and the RF baud rate (default 2400).
+
+ example: start 100 2400
+
+
+
+pos <robot_num> <x> <y> <heading> <valid>
+
+ The packet consists of a some header bytes and an array of 8 robot position structures.
+ Use the "pos" command to modify one of the robot positions.
+
+ parameters:
+
+ robot_num index of the position structure to modify. 0 to 7
+ x the x coordinate. 0 to 255
+ y the y coordinate. 0 to 255
+ heading the direction the bot is facing. 0 to 15
+ valid flag indicating whether position report n contains valid data. 0 or 1
+
+
+
+
+
+
+reset
+
+ The reset command makes the transmitter stop transmitting and clears the packet buffer.
+

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