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andretamm / sdpwinners

STABILITY - making your robots stable since 2014
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Bluetooth communication #5

Closed kocikocev closed 10 years ago

kocikocev commented 10 years ago

I am currently working on getting the code from Group 1 2013 communication pack and play around with it to see what it does and how can I make it work for two robots.

andretamm commented 10 years ago

Basic communication working, now need to figure out why it's so slow :P

andretamm commented 10 years ago

Bluetooth is faster now, might want to add a way to resend the last command though if it seems to have gotten lost on the robot. Possibly an automatic timeout and retransmit every ... 2 seconds? Or a button for refreshing the bluetooth channels?

andretamm commented 10 years ago

Might be worth using a queue on the robot - I think some of the commands might get lost because we're still busy executing the previous one. This can have repercussions though, maybe losing some commands is actually a good thing, making sure we always only execute the latest one we got. But this is a good thing to test any way. Guessing that this would fix the "not releasing grabber after a failed grab" issue, but again, it might make other things much much worse.

andretamm commented 10 years ago

Discussed this with @kocikocev, we've split commands on the robot into two - ones that are okay to overwrite and ones that will get executed immediately. This (hopefully) gets the best of both worlds. We now also resend commands every 2 seconds (I think..) and don't spam the robot with commands, so this is probably as good as it's going to get, I don't see anything major we can do here in the next few days, so closing.