Project Milou 2020 Firmware

Update Master to latest version firmware (#23) (#24)

* Added Travis Status Icon

* Resolved issues 2,3, began state machine for 10, adjusted max speed to 2 m/s, misc. cleanup

* Added state machine, rewrote wheel speed conversion function, other misc fixes (issues 2,10,15)

* reworked state machine and motor control function

* added EStop triggering direct in pulse detection function

* submission from end of semester

* fixed pointer comparison error

* updated file structure to start seperate funciton regions

* fix breaking

* cleaned global variable

* clean setup file

* parsed all code into regions

* included default code

* night night 2019... I will deal with you 2020....

* ah fuck.... last bug in 2019....

* start

* cleared deadlock logic

* fixed state machine, working on ik

* fixed issue with loop rating, simplified archetecture. Added TODO.

* fall back loop rate for moto write

* updated debug show

* minor tweak

* still working on kinematic math

* fixed data type bug

* fix compile

* verified state, fixed state blocking, roughly verified ik. RC state complete till PID.

* fullfilled encoder speed calculation verified

* fix unit

* actual motor speed math encoder in

* disabled sabertooth related crap, fixing compile bug

* added pid reference

* added reference sabertooth code

* added tutorial

* finished PID implementation. TODO test

* oh disregard auto compile, need to add new library....

* updated travis build farm command

* fix travis command?

* fix version blocking on travis

* fix problem where examples are built

* fixed travis configuration, complete PID coding.

* fix travis integration on slack

* fixed pid abs max expression, tested pid roughly

* confirm all functional region active except for ros. Started ros development

* added integrator clamping

* update expression

* update pin layout

* Physical robot test complete

* update milou firmware

* i don't know what happened... It just worked?

* maybe this is bad

* updated ros code. Publisher is fucked...

* fixed teensy firmware

* reduce deadband

* changed name and started readme

* Updated instruction

Co-authored-by: Drew Borneman <[email protected]>
Co-authored-by: CWRU Autonomous Vehicles Lab Handler <[email protected]>

Co-authored-by: Drew Borneman <[email protected]>
Co-authored-by: CWRU Autonomous Vehicles Lab Handler <[email protected]>