I've put another snapshot on the web site. Includes several
navigational bugfixes, and work on a faster more reliable bluetooth
link...

* FEATURE: Switched to 57K baud Bluetooth communication required
some streamlining of SCI/UART interrupts and routines. This is really
pushing the limit...with this and below change, am now about 4-5 times
faster than initial implementation which gives teleopoeration much
better control.
* FEATURE: Chnaged to variable length "JAUS" messages. Until I get
to real JAUS format and use of the prescence vector... but for now,
the data_size field is updated on transmit from an internal table of
message sizes.
* FEATURE: Added ability to define service connections, and changed
architecture to use these JAUS features for establishing heartbeats
rather than non-standard architecture; can also use for teleoperations
(command class; message=Set_Wrench_Effort_Message), and such...
* FEATURE: Added "connect" button on simulator. this more logically
divides when the simulator should be running from when the target
results should be displayed; otherwise, they both sometimes would compete.
* FEATURE: added ability to send intranode messages for testing
component behavior.
* FEATURE: Display of the A* Path and Path_Area (previous features)
now works again (and there was much rejoicing).
NOTE: removed the A* toggle as this will not be possible.
* BUG: painting scene was broken. did not reduce coordinates for
call to OGrid::wall etc.
* BUG task_encodedmotor_driver general dead reckoning equation was
wrong! I changed it previously incorrectly.
NOTE: lots of errors were found in navigation--amazing it worked at all!
* BUG: upgraded to version 1.3 of fixedpoint.c library
* BUG: primitive_driver did not work without local vector driver.
* FEATURE: Added teleoperation mode in both simulator and robot
(pretty cool). See notes in documentation for details.
* FEATURE: incorporated dialogue and teleoperation into simulator
window rather than seperate window--this fixed the focus problem, and
allows a more mouseless operation (I hate using mice).
* FEATURE: Changed the transmit function to allow for intranode
communication without hopefully interfering with internode
communication. This allows for the simulator to pass the psuedo JAUS
message between components which better tests the final
(inter)component behavior in the simulator.

Derek