File Release Notes and Changelog
Notes:
RHexLib 1.0-beta release marks the first stable version incorporating
separate local libraries and local development libraries.All site
specific functionality has been shifted to local libraries and the
code library is restricted to the most stable, standard set of
components.
Changes:
-- CLOCK datatype is eliminated from the user visible parts of the code.
The Profiler class interface changed as a consequence.
-- New module: RHexWalker. Encapsulates inclination compensated
alternating tripod gait and triwheel gaits. Both have variable speed support
-- Improved PositionControl class to enable/disable back EMF compensation
-- Improved McGill and MichiganDCMotorHW implementations to turn on/off
motor drive voltage drop compensation
-- Several small datatype etc. changes in the hardware layer for cleanup.
-- RHexLogger now supports adding custom variables and functions for
logging.
-- Removed FlipMachine and TouchdownDetector from the core library
-- The documentation is vastly improved with fairly complete descriptions of all
the modules and a pretty good tutorial section.
