Small steps towards autonomy: frustrated by the active mode, I implemented a passive mode on the mini-laptop. So our robots will have complete autonomy.. yeah! So far, I decided for a callback/timer solution for estimation/control, and it is working ok if the robot is going straight. We do have problems if the robot is turning (the filter doesn't catch the motion of the robot, basically because it slips --> to check). Technically, I put the rs as interface between the mini-laptop and the irobot, it works smoothly; I implemented a UKF (which is still to refine and we should put this together with a Multi-lateration for "bad" situations) .. The rs is not working for the Cricket motes, but with the mini-laptop, the serial connection works much better anyway.
Last but not least: cables and connectors have arrived for the external power systems for the Cricket motes. Ron is going to work at this within this week.
have a nice night folks, :P
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