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README for MotorBoardTop
Author/Contact: [e-mail]

Description:

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, my 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.

Alternate Implementations:

  MotorBoardTopTestComm -- This component is primarily used while testing
    the communication between the master mote and the motor board.  It sends
    a MICA_TOGGLE_LED message two times per second to the master mote.  This
    message may be used to measure the bit rate and adjust the clock
    calibration value (in EEPROM address 0) appropriately.  Since the motor
    board uses the internal reference clock in the ATmega8L, it is relatively
    inaccurate.  For communication between boards to work properly, this 
    value must be calibrated.  At the current 19.2kbps setting, one bit
    should be approximately 52 usec.  Increasing the calibration value will
    make the UART slower and vice versa.

    In addition, this testing component sets the motors to a constant speed
    and changes their direction at the same clock rate.  This also tests
    the motor driving functionality of the motor board (i.e. makes sure
    everything is soldered properly).

Tools:

Known bugs/limitations:

As hardware drivers are added to the motor board, they should also be added
to this component as well as commands/message types in 
tos/lib/Robot/MotorBoard.h.  The current implementation is by no means
complete.