Decided to build Javaclient 1.6.3.2 today, in case some of you guys have CVS
issues. So, 1.6.3.2 is up at SF. Changes:
- We got a new subpackage called javaclient.extra, where I've included some
basic controllers (P, PI, PD, PID). Here's an example on how to use a simple
P controller (first put your robot at a 45 degree heading for instance):
...
PController pid = new PController (3);
pid.setGoal (90);
while (true) {
double now = pi.getYaw (); // PositionInterface
if (now < 0)
now += 360;
try {
Thread.sleep (100);
} catch (Exception e) {}
int command = (int)pid.getCommand (now);
pi.setSpeed (0, command);
System.out.println (now + " / " + command);
}
...
- Changed some parameters for the BlobfinderInterface and PtzInterface
methods to accept int instead of short/byte;
- Added getFiducialCount() and getFiducials() in FiducialInterface (thanks
to R. Paul Wiegand);
- Fixed some GEOM_REQ bugs in Position*Interface;
- Added Push(), Pop(), Read(), Clear() and setCapacity() to MComInterface;
- Small bug (short -> int) modified in GripperInterface;
- Added documentation for extra/*Controller.java;
- Fixed a few bugs for SonarInterface and IRInterface. Added AUTOSERVO
support for PtzInterface (tested with CMUcam2).
More to come. Stay tuned.
Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]
|
