README Andrea Frank Created 7/10/2017
This respository contains pertinent code for Summer Mentorship Program, Engineering, 2017.
This includes the library used to control the TOBI v.3 robot, as well as instructional
programs used to teach coding concepts. The Tobi.h library provides a tobi class, with
methods for initialization, flashing LEDs, controling the motors of each leg, and reading
the encoders. TobiPro.h class provides extra functionality for students to use if
instructors want to give the students a head start.
Original library and header file created by Cherag Bhagwagar (10/21/2016). Updates (denoted by $ at the start of comments) and re-organization by Andrea Frank (see changelog).
By: Andrea Frank, 8/25/17 *************************************************************************************************
Major changes: Added descriptive comments to TobiPro methods.
Minor Changes:
By: Andrea Frank, 7/28/17 *************************************************************************************************
Major changes: Began writing TobiPro library. This library will be optional for instructors to provide when teaching the TOBI robot. It contains methods for getting the speed of the TOBI bot, as well as filtering the speeds for more smooth values. These are methods that the instructor may prefer to have the students write on their own, which is why they are in a different library. TobiFilterManager and Filters are also included. TobiFilterManager is used by TobiPro to manage filtering and statistics of input and output signals. Libraries are not sufficiently commented yet - sorry! That's the next step.
Minor Changes: Cleaned up Tobi library comments. Also began writing TOBI Programming Guide and Example Solutions in Google Drive. I'll add them here once finished.
By: Andrea Frank, 7/24/17 *************************************************************************************************
Major changes: Changed getAngle() to readEncoders(), since that's really what you do. analogUpdate() is now private (renamed _analogUpdate()) and called automatically when calling readEncoders(). Added a calibrateEncoders() method, because sometimes the max encoder value varies. Took out #include <TimerOne.h> since we don't end up using it.
Minor Changes: Cleaned up library comments and such in general.
By: Andrea Frank, 7/17/17 *************************************************************************************************
Major changes: Uploaded example files from programming lessons to repository.
Minor Changes: Updated README.md
By: Andrea Frank, 7/12/17 *************************************************************************************************
Major changes: Changed tobi class to Tobi to keep with class naming convention. I didn't
want to confuse the students by using lowercase for a class after teaching them that it's convention
to use uppercase. Also uploaded keywords.txt (also included in tobi_7-12-17.ZIP) so Arduino will
recognize class and method names from Tobi library.
By: Andrea Frank, 7/10/17 *************************************************************************************************
Major changes: Set __pwmPins[1] back to 5. Although both __pwmPins[1] and __encoderPins[5]
are equal to 5, they are mapped to two separate pins (digital pin 5 and analog pin 5, respectively)
when called for IO.
By: Andrea Frank, 7/10/17 *************************************************************************************************
Major changes: Set __pwmPin[1] to 12 instead of 5, since __encoderPin[5] = 5 a few lines down. I am
under the impression that this pin should not be written to __pwmPin[1] and then immediately after
also assigned as an input pin for __encoderPin[5], but I will check with Cherag. I also commented
out declaration of __pcf1, __pcf2, __bit1, and __bit2 in header file, since they are declared on
their own within the .cpp library file, and do not need to be used outside.
Minor changes: Reorganization, commenting code.
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