This is mostly a bug fix release and completes a lot of the
communications functions in the workshop. The persistent memory can
now be downloaded via the GUI; thus a keypad is no longer absolutely
necessary. The major changes are:
* If no Scene file is created and Autoload is set, then program
abends. [4.17]
* Allowed map unit < 1 which will cause many problems. [4.17]
* Finished communications download to workhop. Still needs cleanup
[4.16]
* Finished communications upload from workshop [4.12-4.15]
* Added subcommander to M4.
* Fixed acknowledgements to Set methods caused a bogus set on
Querying host. [4.14]
* when change units (inch) and save, it does not load correct
mm/division [4.12]
* DASI: confused call to ntoh on message receive (jaus_message.cpp).
needed two methods ntoh/hton. [4.11]
Removed call to ntoh in each component [case where you put a bug
in to fix another bug!]
* DASI: Believe I found bug in some message transmissions. The
struct's in the jaus_message.h must be aligned on a 32 bit boundary or
they will be internally padded messing up the record structure.
[4.7-10]
* removed patch for relative_object_position read (diagnostics.cpp)
struct as it is now fixed [4.7.10]
* DASI: Added cb_upload_waypoint to upload all information on map
screen. [4.04-06]
* converted most internal methods to use radians rather than degrees
(related to below). [4.02-06]
* Testing over 200 feet course revealed the following problems:
(this will increase interrupt latency, but payback is high).
1. changed _distance to float (was fixed) in Local_Pose_Sensor.
Fixed limited robot to max. travel of 32767 millimeters (just over 100
feet).
2. changed _current_distance to float in Local_Vector_Driver.
Same limit as above (4.01)
3. changed accumulated distance in oEncodedMotor from FIXED_TO_INT
to FIXED_TO_DOUBLE. after 100 feet of travel lost 2 feet. (4.02)
* Added round funtion and rounded MAP_UNIT *10.0 in persistent.
Sometimes floats 152.4*10= 1523 because of trunc int and float
round-off error. (4.02)