- The low-level control FPGA boards are ready. They implement the PIDs ensuring smooth operation of drivers and sensor readings from the encoders. We devised a flexible protocol to send commands to the motors and get timely sensor readings to and from both the on-board computer and the mid-level control (pattern-generator) board. We used Altera DE2-70 boards, communication takes place over Ethernet.
- With a well-defined protocol we can now begin porting the Matlab pattern-generator code to the FPGA board which will ensure real-time performance.
- We are coding the software which will run on the on-board computer. Our current focus is getting good performance out of the stereocamera and delivering a reasonably good (and packet-loss ready) video stream. We are still having some difficulties with buggy libraries and fuzzy-behaving encoding software, had to write to PTgray a couple of times. We have our Linux system running on the Fanless VIA EPIA, we tested all basic interactions with the various components.
- Good news from the Multi-hop communication system: our Fonera nodes are up and running with B.A.T.M.A.N., a robust multi-hop communication system. Testing shows very good range (with some hops we can communicate from side to side of our large and thick-walled historical building with only 10% packet loss) and a comfortable bandwidth of more than 500 kB/s. The home-made battery pack got us 2.5 hours of run-time in little weight.
Friday, September 19, 2008
As we promised, here is the detailed status of our multi-hop communication system:
Pubblicato da Jacopo a 11:31