todo.txt

老外开发的机器人的底层单片机代码。比较有参考价值哦！

TO DO													rev 9/1/05

Microcontroller.c      	enable 30 second RGnull() and delete following comment
	        			enable DataPrint() for logging	

Analogs		Add logic to pre-process analog inputs before sending to laptop.
			e.g. send last value, average of 4 values, mid value,  low pass
			filter etc.  add laptop support.

Accel		Decide how much processing to do in micro.  Just supply raw accel 
			reading to laptop for calibration and conversion to lat/long accel in 
			mm/sec^2 and Pitch and Roll attitudes there?  or send calibrations 
			from laptop	to do in micro?
			Right now, it just supplies raw data to laptop after a 0.5 sec filter.  
			Add correction terms to subtract out longitudinal and lateral
			acceleration due to drive motion (fwd accel and cornering)
			Calc accel nulls during startup just like gyro?
			
I2Ccompass	Get rid of sync error problem in interrupt.  Provide recovery logic.
			Make I2C more flexible, able to add more interfaces easily.  Move to
			background?
    		I2C, shouldn't it check if transaction was completed before 
			  Compass = compass;??

BITE		Update testing to support stand-alone testing better and/or to 
			support testing from laptop. Add RC servo, DIO, etc.
			Now that micro requires init from laptop, is stand-alone testing
			feasible?  Move it all to laptop?

DG			Do more testing.  Add laptop support for hdgset function.
			heading isn't working.  maybe due to turn rate
			
interrupts  	Test new ENC2 reader.

Motors      More testing.  Especially initializations during mode changes and 
			recovery when slowed or blocked.
			Sometimes, motor runs for a few seconds when micro starts running.
			Add turn for heading and radius modes

Navigation  	Test X/Y coord calculations and add laptop support for setting 
			X and Y coord.  Test accuracy of calcs using heading signal.
			implement headingDR.

ProcessCmds 	Implement new functions which are still commented out.
			Delete ProcessCalibMsg1() and associated message (uc & laptop)
			  
USB		Consider separating read and write functions and reorder executive 
			to make shorter latencies.
			
BattMon.c	not used, delete it someday.  Move calibration over to laptop			

iochar.c	consider implementing serial I/O as interrupt driven to get higher
			datarate.
  
RCservo.c	try putting the servo pulse out less often, like every other frame, 
			to see if it reduces jitter on analog servos.
			
			  
  LAPTOP:
  
    none
 
 Generating a distributable copy:
 
   perform compare against last release copy.  
   Add all changes to revision record file
   Revise revision date on all modified files
   recompile
 
   Make a copy of project file with distribution date suffix 
      e.g. Microcontroller 8-25-05
   Delete all files except:
   Microcontroller.prj
   MICROCONTROLLER.SRC
   all .c 
   all .h
   out.s19
   TODO.txt
   RevisionRecord.txt