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Current CotsBots Applications
Author/Contact: [e-mail]

If using a Makelocal file in tinyOS-1.x/apps, make sure to copy that file into 
this directory before installing applications in this folder.

Figure8:
Figure8 runs the tos/lib/Robot/Figure8M component with the default values.
The robot should move in a figure8 pattern, although this depends 
tremendously on surface, battery voltage, etc.  Because there is no position
feedback currently being used, this pattern is completely open-loop and
must be calibrated.

MotorBoardTop:
It is expected that this component run on the UC Berkeley motor board equipped
with an Atmel ATmega8L microcontroller.  MotorBoardTop provides access to
all of the robot-specific hardware drivers as well as the communication
interface to the master mote.

MotorBoardTopM provides a top-level message parser to implement the
commands provided by tos/lib/Robot/MotorBoard.h.  It also has the ability
to send messages to the master mote (debug or otherwise).

If a platform other than the Mini-Z is used (differential drive robot for
example), the implementation details of how the robot turns should be
provided here.  For example, the current setTurn message sets the turning
angle of the Mini-Z servo.  However, for a differential-drive robot, setting
the turning angle would involve moving the two motors at different speeds
and directions.  It might also be better to write a "controller" interface
here instead that takes in velocity and rate of rotation (and then map
this to control of the motors).

Obstacle:
This is an obstacle-avoidance program that utilizes the accelerometer on
the mica sensorboard to determine the presence of an obstacle.  When
an obstacle is detected, the robot will back up, turn, and go in a
new direction.

TestMotorBoard:
TestMotorBoard tests the interface to the motorboard.  It receives and
sends messages over the radio interface as well as over the motor board
interface.  Incoming radio packets are transformed into motor packets.  In
addition, packets sent from the motor board (which may contain accelerometer
or servo debugging information) are relayed back over the radio.

TestNavigation:
TestNavigation tests the NavigationC/M component.  It accepts a radio
message that tells the robot its current x-y position in cm, its current
heading in radians (-pi,pi) and the position it should go to.  TestNavigation
calls the Navigation.navigate command to move the robot from point A to point
B.  In addition, debugging capability is provided in the Navigation component
to check the calculations at various steps.

BeepDiffusion:
The goal of BeepDiffusion is to spread robots out in a confined space.  Each
robot beeps in turn and if the other robots hear it, they move forward.  It
uses obstacle avoidance through the accelerometer component (Obstacle
above).  In this way, the robots act as gas particles diffusing throughout
a space -- bouncing off walls.  In this case though, if no robots can hear
the others, they stop and consider themselves spread far enough.  There are
still some problems with this application -- namely getting consistent beep
radii.  BeepDiffusion has two components -- BeepDiffusionC and StartDiffusion.
BeepDiffusion is the main application to be run on the robots and 
StartDiffusion injects packets into the network to start the application.