Adding a DropletMotionTracking folder for motion system LP project.
Fixed the take_step buck again\!
Targeted communication and commands working.
Implemented hsv_to_rgb conversion and added set_hsv function for rgb led control.
Added motion calibration code and a roborealm file for tracking.
python file DropletMotionCalibration.py can now be used to send commands to the God Droplet programmatically.
The python program gets droplet position from roborealm now using an intermediate data file.
small code cleanup and comment changes.
Changes to droplet motion calibration code.
Converted to using sockets, about to try and fix droplet bug.
Fixed the problems, we think. Longer delays! broadcasting is slow. :(
Maybe working better. Added support to run_opt_phase for multiple directions. Only done rudimentary testing.
Mostly solved the getting-stuck-on-edges problem, by having the droplet go back and forth (duh). Need to check the signs in the change array for the rest of the directions.
Did some refactoring in DropletMotionCalibration.py, and made a lot of progress on turning our single-direction optimization loop in to a full calibration for a single droplet. Most significantly, I now have a method to figure out what sign the motors should have, that appears to be working successfully.
Added custom motor on times, but going to take it out.
Added it so droplets know how far they walk (or they can know, at least). Also tried walking differently.
Cleaned a ton of functions out of motor.c and changed the way droplets walk. Scary.
Continuing to work on updating the low-level motion process. About to try something a little extra crazy.
Extra crazy something worked! Now move_steps just sets up some square waves that work. It's great. Hurray. Minor issue with the scheduler and extra stop commands, but I can fix that.
Fixed bug in linked list search for task removal, some more small updates to motion.