revisionrecord.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！

Revision record

3-23-06
	   Revised RC motor driver logic so that a parameter has to be set in 
	   Microcontroller.ini in the laptop (1 = RC motor drive, 0 = H-bridge) in
	   order to initialize and control the motor drive hardware appropriately.


12-31-05

		In BITE test routines, revised PWM test to default to 100% PWMmax if 
		not already initialized by laptop.
		
		Also in BITE test, added initialization to accel test in case not 
		already init by laptop,and now prints out raw accel values rather 
		than attitude angles.
		
		Added capability to drive an RC motor driver rather than the usual 
		h-bridges.  
			

9-1-05
	  Using Microcontroller 5-21-05 distribution as the baseline....

	   Revised to add laptop control of RC servos and discrete I/O
	   
	   Added laptop control of microcontroller datalogging.  Adds on/off
	   function and selection of data format.
	   
	   Revised motor.c so that the stop turn command works more reliably.
	   
	   Revised motor.c logic of stopping forward motion to avoid pwm "bump"
	   when NavAndControl laptop software starts.
	   
	   Accel.c is modified but still not reliable in producing acceleration
	   signals.  Pitch and Roll attitude are always zero.
	   
	   Added a counter (USBtimeout) in USB.c to count time since last message
	   received from laptop.  Added logic in Motors.c to bring on-going turns
	   and forward motion to a halt if message not received for 1 second. Added
	   logic to ProcessCmds.c to not process command messages until several
	   messages have been received (to avoid occasional motion transients when
	   restarting Nav and Control.exe...I hope).
	   
	   Added a new test in BITE.c (with John Edward's help) to apply user 
	   selected PWM values to each of the drive wheels (note that 
	   microcontroller must be initialized by the laptop/desktop to run
	   this test).
	   
	   Misc editorial/non-functional changes.
	   
	   NOTE:  major changes have been made in this revision.  It is only 
	   compatible with the 8-18-05 revision of NavAndControl laptop code and
	   subsequent updates until further notice.