Here's the latest snapshot. This revision mostly fixed inaccuracies
in navigational model to hopefully lead up to RSSC hall contest...
[Simulator now is usually within a few millimeters of
waypoint--33% 0-2 millimeters.
previously simulator could show up to a foot or so off for long
distances; i.e., it actually
knew it was a foot away, but made no attempt to fix it (hmm).]
* FEATURE: Changed wheelbase and wheel diameter to micrometers
internally. This
essentially allows for three decimal places of accuracy to fine
tune dead reckoning. Only marginally
useful now because of difficulty recalculating dead-reckoning
formulas with different wheel-base
only approximates ratio for left; i.e., uses right wheel for
basic encoder unit.
* NEW: Revamped the GUI coordinate system so that it now has a
"global" grid overlay. part of new
methodology to internally use millimeter destination in final
A* path. This eliminates
the A* path rounding error when going to the map tile center
rather than actual destination.
- Can overlay global, local, or user grid in GUI for
coordinate referencing.
- changed GUI rulers to display millimeters.
- Changed mission_profile to store millimeters instead of map
units.
- Dynamically calculated last angle in mission profile rather
than using stored angle
this eliminates error associated with not being where your
supposed to be. (motion_driver.cpp [get_dest]).
* FEATURE: Changed algorithm for when to stop in
local_vector_driver--much more accurate also.
* BUG: traffic.cpp (test program) fixed. WCInit moved up.
* BUG: playback fixed and revamped. Of course, only useful if using
bluetooth module though :)
* BUG: froze/crashed if using local vector driver without motion
driver.
* BUG: Import of DXF file where dimensions==GRIDX/GRIDY cause
message Exceeded, but still core dumps.
* BUG: Import DXF, then save as.. scene file does not work.
* BUG: Position of robot gets corrupted if obstacle.
* NEW FEATURE: Quick Turn mechanism (F1) via use of local vector
driver without motion driver.
Allows quickly just turning to a heading (angle) or just
traveling some distance forward from current position
without knowing position on map (but still restricted to
staying within map (legal coordinates).
* FEATURE: Added download of whether obstacles are present to
platform spec. download/upload.

Derek