Motion controller now goes forward a distance specified by the logic node. Logic node gives different distances when it's in turning around mode.
Corrected bug in alignment without looking at recent walls.
Bug fixes
New values for motor's PID. New values for wall follower PIDs. New values for rotation PID. New values for alignment PID. Control_motion operates at same frequency as the core. IR sensors are being filtered by a smaller avg array. Robot moves smoothly at 20cm/s :) Rotation PID needs tunning. Odometry's correction MUST be checked more seriously. The higher frequency makes it screw up sometimes.
Corrected theta correction's bug
New version of logic
Motion controller V2.0 - Almost perfect rotation (sometimes it takes longer than desired); Wall follower is much improved, with some annoying quirks. Wall alignment works OK
Merge branch 'logic_test' of https://github.com/TheiaRobo/Theia into logic_test
Wall follower doesn't try to keep aligned with wall if it's too close to the robot
Standard values update
Corrected a bug in median filter and made the delay between commands longer
Somehow lost previous controller values. Corrected it.
Control_motion almost 100% ok. Logic needs debugging. Changed minimum threshold for logic to match motion.
long range sensor data
Bug correction in logic
Slight tuning of the rotation behavior. Corrected a bug in logic (one corner situation that wasn't being well processed). Rotation and alignment controllers need further tuning. GOOD ENOUGH FOR MILESTONE 1. NOT GOOD ENOUGH FOR THE PROJECT: - going forward should imply corrections along walls if one is in sight: the walls should be a 'robot atractor', independently of the controllers that are operating in it.
Merge branch 'master' of https://github.com/TheiaRobo/Theia into mapping