Rain Bot Files

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Project:   RainBot ('R'obot 'A'ware 'I's 'N'ot 'BOT')
Version:   0.11
Details:   Home built Lego Robot with NXT and RobotC
Goals:     The first goal is to have fun, learning and sharing.
Status:    Beta
Author:    Michael Cambay
Copyright: You may use this code as you wish, provided you give credit where its due.
Todo:      a lot of things :-)
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Changelog summary:
  0.11: Chg: Basic simulation include now robot rotation                             [Compile and run myRobot.c]
        Add: Path Finding A* or Dijkstra's algorithm (through compilation option)    [compile and run myMap.c]
        Chg: Separate Robot own odometry from simulation 
        Fix: Workaround 2D array bug in fw 9.12: 2D arrays are stored in 1D arrays
        Chg: Organize files into sources (*.c) headers (*.h) and globals (*_globals.c)

  0.10: Chg: Simplification of wall collision simulation and tests.                  [Compile and run mySimulation.c]
        Chg: Align on trigonometric rules (CCW 0=East 90=North 180=West 270=South)
        Fix: Motor emulation takes in accound separately front and rear skid.
        Fix: PWMLevel was incorect for Reverse (with power<0)
        Chg: Integrate Xander's drivers v2.5

  0.09: Chg: better simulation (Motor emulation fixed). Still errors to fix in simu  [Compile and run mySimulation.c]

  0.08: Add: simulation and some tests for _TARGET="Emulator".                       [Compile and run mySimulation.c]

  0.07: Add: (simple) Sensor emulation for test purposes.                            [Compile and run mySensor.c]

  0.06: Add: (simple) Motor emulation for test purposes.                             [Compile and run myMotor.c]

  0.05: Chg: PathFinder optimizations. 1.00s to find path from point(0,0) to point(13,9) [Compile and run myMap.c]

  0.04: Chg: PathFinder optimizations. 1.13s to find path from point(0,0) to point(13,9) [Compile and run myMap.c]

  0.03: Add: PathFinder creation.      1.69s to find path from point(0,0) to point(13,9) [Compile and run myMap.c]

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The archive contains several sources.
"Rainbot.c" is the main project file and includes all others.
The Xander's drivers are not included in the zip file.
You can download them at http://sourceforge.net/projects/rdpartyrobotcdr/?source=directory

Compilations:
=============
With Robot 3.08 you can compile:
* the global project: open the main file "Rainbot.c" and compile it.
* A specific file   : open it and compile it. (most files have their own task main() used to debug it).

Here is a list of all files with brief descriptions:
====================================================
Here is a list of all files with brief descriptions:
myCompassDisplay.c         This file manages the display of a Magnetic Compass on NXT screen
myCompassDisplay.h         This file declares myCompassDisplay.c structures and functions
myCompassDisplay_globals.c This file declares MyCompassDisplay.c global instances
myCoord.c                  This file manages generic 2d cartesian coordinates and fifo of coordinates
myCoord.h                  This file declares myCoord.c structures and functions
myDisplay.c                This file manages small display functions (missing in the RobotC)
myDisplay.h                This file declares myDisplay.c structures and functions
myFonts.c                  This file manages a small font display (smaller than native NXT fonts)
myFonts.h                  This file declares myFonts.c structures and functions
myFonts_globals.c          This file declares MyFonts.c global instances
myMap.c                    This file manages the Robot environment: mapping and its display, path finding
myMap.h                    This file declares myMap.c structures and functions
myMap_globals.c            This file declares MyMap.c global instances
myMaths.c                  This file manages mathematic sub functions
myMaths.h                  This file declares myMaths.c structures and functions
myMotor.c                  This file manages Motors and their emulation
myMotor.h                  This file declares myMotors.c structures and functions
myMotor_globals.c          This file declares MyMotor.c global instances
myRectangle.c              This file manages generic 2d rectangles and their collisions
myRectangle.h              This file declares myRectangle.c structures and functions
myRobot.c                  This file manages the Robot location and orientation
myRobot.h                  This file declares myRobot.c structures and functions
myRobot_globals.c          This file declares MyRobot.c global instances
mySensor.c                 This file manages Sensors and their emulation
mySensor.h                 This file declares mySensor.c structures and functions
mySensor_globals.c         This file declares mySensor.c global instances
mySimulation.c             This file manages the simulation of Motors and Sensor according Map and Robot informations
mySimulation.h             This file declares mySimulation.c structures and functions
mySimulation_globals.c     This file declares MySimulation.c global instances
myTurret.c                 This file manages Turret movement, sonar and light sensors
RainBot.c                  This file is the main "Rain Bot" project file
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