From HotDec
>>>CURRENT PLANS (in order) <<<
These are improvements beyond the minimum truck functionality
ans also general tasks for our systems maintenance / development:
DONE> Enable DHCP and VPN on the truck (so it can connect to UIUCnet)
DHC
VPN
can connect to elegy
can recieve connections from elegy
DONE> Convert code to C++ (pretty classes!) (fpatel)
Current Date: 6/6/06 <---<<--
* Setup Testing Infrastructure (fpatel:2 days)
* Enable GPS measurements for the truck (dbking: 3 days)
* Split the controller and truckdaemon programs (golemon & dbking: 12 days)
truck is able to kill controller
daemon preparses and forwards TCP data
controller uses predefined library functions only
(this allows refactoring at lower levels)
* Basic controller for servo/motor velocity/position (dbking: 5 days)
* NEEDTODO: stuff on whiteboard:
Target: Simple movement on ground
1. FWD X ft, at angle theta
2. BWD Y ft, at angle kappa
Need to have:
1. Access to HW (encoder, SCC, via ssh, nfs on elegy for data)
2. Mount electronics:
a. HD -> flash disk
b. physical mounting
c. battery cut-off problem (see above)
* automatic cut-off or warning on battery power on truck
* Learn Troy's vision system: (fpatel:10 days)
- modules / hardware Issues
- APIs for math and vision
- basics of algorithm implementation
- create a test application
* Write Tests for all current software. (fpatel: 10 days)
* Report actual steering angle. (fpatel:1 day)
* Add a GUI to the client (golemon & fpatel: 7 days)
- GUI needs to be cross-platform
- GUI needs to be modular and extremely EASY to add on to
- must include possible field-of-view image windows
- API for command-sending
- API for energy-bar style and numerical feedback
* Add RTAI to the SBC kernel (dbking: 1 day)
- make the controller realtime
Total:
fpatel: 23 days
golemon: 19 days
dbking: 28 days
Tentative Due Date: July 17, 2006 ( = 6/6/06 + 28 * 1.4)
Optional / Future work:14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)~
* Add a gauranteed speed function. (dbking: 3 days)
* Add Sonar and IR to the truck sensors (golemon: 2 days)
* Add a streaming webcam to the truck (golemon: 2 days)
connect to SBC
truckd recieves data
send data over TCP
client displays
* Convert truck wiring to I2C (golemon & dbking: 18 days)
* Port encoders to mega88 chips (dbking: 3 days)
Total:
fpatel: 0 days
golemon: 22 days
dbking: 23 days
Tentative Due Date: August, 2006 ( = 6/6/06 + (28 + 23) * 1.4)
Completed tasks14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)[[User:Golemon|Buck]] 14:06, 9 June 2006 (CDT)
>> Truck 'daemon'
runs on the SBC and operates the truck
DONE>be able to control servos (fpatel: 5days)1
DONE>interact w/ module (fpatel: 9days)3
DONE>interact w/ server (done)
DONE>send/recieve messages (fpatel: 4days)2
>> Truck server
runs on elegy and forwards data between the truck and client
DONE> allow connections from truck and client (done)
DONE> forward data between the two (done)
DONE> run on a long-term basis (golemon: 5days)1
>> Client
runs on a PC and allows a user to interact w/ the truck
DONE> connect to server (done)
DONE> send instructions (golemon: 3days)7
DONE> get truck output (fpatel: 2days)4
DONE> get and send at the same time (use select() ?) (golemon: 5days)6
>> MCU
handles the interaction of the SBC and the encoders
DONE> read encoders (golemon: 6days (?? talk to derek))2
DONE> share memory w/ SBC (done)
DONE> interrupt SBC when new measurements are ready (golemon: 1day)3
>> Module
handles interaction of truckdaemon and MCU
DONE> ioctl to read encoders (golemon: 4days)4
DONE> recieve interrupts from MCU (done)
DONE> copy MCU shared memory to user (golemon: 1day)5
TOTAL:
fpatel: 7days
golemon: 17days
Due date: May 31 2006
FINISHED: May 23 2006
