System Integration

1
System Integration

• Round 3

2
robot.c

• Decided to start from scratch
• Works without the heartbeat
• Publishes state
• Receives velocity commands
• Requires odometry validation

3
found a HUGE bug

• Modifications to roomba.c were not being compiled
  into the right library file
• Any changes we made to roomba.c were not actually
  being executed, since the library file remained
  the same regardless
• Update your repositories to get a new Makefile
• Use the robot.c abstraction from now on.

4
arm.c

• Will finish up this abstraction by the end of the
  weekend.
• Does anyone have a really good arm calibration
  parameter set from lab 1?

5
Planner

• Hashed out the final control architecture to
  manage interaction between components
• Will have an overall planner that passes control
  to and from your individual components.
• Finite State Machine approach.
• Will be implemented during the next week

6
Suggestion

• Coding party on Saturday?
• Lots of people in lab keeps energy up
• Have people around to answer questions
• Plants are poor conversationalists