Automated deployment: Wed Mar 20 10:40:55 UTC 2024 35378a8

architecture/hardware2020/index.html

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 <title>2020 hardware architecture - CVRA Robot Software</title>
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architecture/history/index.html

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 <title>History & Design - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
-<meta name="generator" content="mkdocs-1.2.3, mkdocs-gitbook-1.0.7">
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architecture/life-of-a-motion/index.html

@@ -6,7 +6,7 @@
 <title>Life of a motion - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
-<meta name="generator" content="mkdocs-1.2.3, mkdocs-gitbook-1.0.7">
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can/adapter/index.html

@@ -6,7 +6,7 @@
 <title>CAN USB adapter - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
-<meta name="generator" content="mkdocs-1.2.3, mkdocs-gitbook-1.0.7">
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can/beacon/index.html

@@ -6,7 +6,7 @@
 <title>Beacon board - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
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can/bootloader/index.html

@@ -6,7 +6,7 @@
 <title>CAN bootloader - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
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can/intro/index.html

@@ -6,7 +6,7 @@
 <title>CAN Ecosystem - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
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@@ -151,15 +151,15 @@ <h1>
 <div class="album">
 <div class="row">
     <div class="large-6 columns container">
-        <a href="../motor.md">
+        <a href="../motor">
             <img src="../images/motor-board.jpg" class="image">
             <div class="overlay">
                 <div class="text">Motor board</div>
             </div>
         </a>
     </div>
     <div class="large-6 columns container">
-        <a href="../io.md">
+        <a href="../io">
             <img src="../images/io-board.jpg" class="image">
             <div class="overlay">
                 <div class="text">IO board</div>
@@ -169,15 +169,15 @@ <h1>
 </div>
 <div class="row">
     <div class="large-6 columns container">
-        <a href="../sensor.md">
+        <a href="../sensor">
             <img src="../images/sensor-board.jpg" class="image">
             <div class="overlay">
                 <div class="text">Sensor board</div>
             </div>
         </a>
     </div>
     <div class="large-6 columns container">
-        <a href="../beacon.md">
+        <a href="../beacon">
             <img src="../images/beacon-board.jpg" class="image">
             <div class="overlay">
                 <div class="text">Beacon board</div>
@@ -187,15 +187,15 @@ <h1>
 </div>
 <div class="row">
     <div class="large-6 columns container">
-        <a href="../adapter.md">
+        <a href="../adapter">
             <img src="../images/can-adapter.jpg" class="image">
             <div class="overlay">
                 <div class="text">CAN adapter</div>
             </div>
         </a>
     </div>
     <div class="large-6 columns container">
-        <a href="../bootloader.md">
+        <a href="../bootloader">
             <img src="../images/bootloader.png" class="image">
             <div class="overlay">
                 <div class="text">CAN bootloader</div>

can/io/index.html

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 <title>IO board - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
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can/motor/index.html

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 <title>Motor board - CVRA Robot Software</title>
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can/positioning/index.html

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 <title>Positioning system - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
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can/sensor/index.html

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 <title>Sensor board - CVRA Robot Software</title>
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design/linux-master/index.html

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 <title>Master firmware on Linux - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
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howto/add_a_uavcan_message/index.html

@@ -6,7 +6,7 @@
 <title>Handle new UAVCAN data types - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
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howto/calibrate-odometry/index.html

@@ -6,7 +6,7 @@
 <title>Calibrate the odometry - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
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@@ -200,9 +200,9 @@ <h2 id="wheel-diameter-difference-calibration">Wheel diameter difference calibra
 <span class="c1">// distance (0.5 * (left_pulse * left_gain + right_pulse * right_gain)).</span>
 <span class="c1">// delta_angle is the difference between the pulse count of the left wheel</span>
 <span class="c1">// and the right wheel, also taking wheel gain into account.</span>
-<span class="kt">float</span><span class="w"> </span><span class="n">factor</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">delta_angle</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="n">total_distance</span><span class="p">;</span><span class="w"></span>
-<span class="kt">float</span><span class="w"> </span><span class="n">new_left_gain</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">(</span><span class="mf">1.</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="n">factor</span><span class="p">)</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">old_left_gain</span><span class="p">;</span><span class="w"></span>
-<span class="kt">float</span><span class="w"> </span><span class="n">new_right_gain</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">(</span><span class="mf">1.</span><span class="w"> </span><span class="o">-</span><span class="w"> </span><span class="n">factor</span><span class="p">)</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">old_right_gain</span><span class="p">;</span><span class="w"></span>
+<span class="kt">float</span><span class="w"> </span><span class="n">factor</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">delta_angle</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="n">total_distance</span><span class="p">;</span>
+<span class="kt">float</span><span class="w"> </span><span class="n">new_left_gain</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">(</span><span class="mf">1.</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="n">factor</span><span class="p">)</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">old_left_gain</span><span class="p">;</span>
+<span class="kt">float</span><span class="w"> </span><span class="n">new_right_gain</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">(</span><span class="mf">1.</span><span class="w"> </span><span class="o">-</span><span class="w"> </span><span class="n">factor</span><span class="p">)</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">old_right_gain</span><span class="p">;</span>
 </code></pre></div>
 
 <p>Once you have a rough working estimation, you can repeat the measurement but repeating steps 3 to 6 a few times to increase the error.
@@ -211,7 +211,7 @@ <h2 id="wheel-diameter-difference-calibration">Wheel diameter difference calibra
 <h2 id="number-of-encoder-steps-per-mm">Number of encoder steps per mm</h2>
 <p>This step is quite trivial to do: we ask the robot to move forward for 2 meters and we measure the real distance it moved.
 We can then compute the new number of pulses using:</p>
-<div class="codehilite"><pre><span></span><code><span class="n">new_pulse_per_mm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">old_pulse_per_mm</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="p">(</span><span class="n">real_distance</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="n">asked_distance</span><span class="p">);</span><span class="w"></span>
+<div class="codehilite"><pre><span></span><code><span class="n">new_pulse_per_mm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">old_pulse_per_mm</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="p">(</span><span class="n">real_distance</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="n">asked_distance</span><span class="p">);</span>
 </code></pre></div>
 
 <p>This method is accurate to about 0.1% (2 mm over 2 meters), but it is also the least important parameter here.</p>
@@ -227,7 +227,7 @@ <h2 id="track-of-the-robot">Track of the robot</h2>
 </ol>
 <p>You can now compute the new track of the robot using the angle measured by the odometry:</p>
 <div class="codehilite"><pre><span></span><code><span class="c1">// count = number of turns done by the robot, start with 1</span>
-<span class="kt">float</span><span class="w"> </span><span class="n">new_track</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">old_track</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="p">(</span><span class="mi">1</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="p">(</span><span class="n">delta_angle</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="p">(</span><span class="mf">2.</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">M_PI</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">count</span><span class="p">)));</span><span class="w"></span>
+<span class="kt">float</span><span class="w"> </span><span class="n">new_track</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">old_track</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="p">(</span><span class="mi">1</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="p">(</span><span class="n">delta_angle</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="p">(</span><span class="mf">2.</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">M_PI</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">count</span><span class="p">)));</span>
 </code></pre></div>
 
 <p>Once calibrated you can restart the experiment and do more than one full turn, we usually stop at 10 turns.</p>

howto/install_arm_gcc/index.html

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 <title>Install the ARM compiler - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
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index.html

@@ -6,7 +6,7 @@
 <title>Home - CVRA Robot Software</title>
 <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
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