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postURC2016

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@ausshir ausshir released this 14 Jul 15:06
· 281 commits to master since this release

Historical release, again not everything is working exactly as we would have liked! :)

Notable new features in this release:

  • Python: Added a CAN Bus server that translates state dictionary keys into CAN headers (that represent packet priorities).
  • Python: Added a WebServer that interfaces with a WSGI server from Bottle (0.13) with a custom server adapter to make it play nice as a child within of the rover subprocess system. See the URC 2016 GUI release for information on how web POST traffic was converted into state dictionary items.
  • Python: Added a method for processes to register their own state dictionary keys to watch (incoming) as well as to make specific servers watch (outgoing).
  • Python: Fixed a critical bug with all servers preventing self state from being pushed to an external client (a critical issue seen at ERC 2015)
  • Embedded: Added some examples on how to use FlexCAN on the teensy within the system (hint: really easy)
  • Embedded: Added timer-based arm code for much better control, calibration, analog measurements, and speed matching.

Not included is the code changes to the VESC bldc software (https://github.com/vedderb/bldc) to send the correct diagnostic information. This was never fully used.