The main objective of this project is to create a way to calibrate the control system.

• Read data from sensors using USB-VCP get string

• Save in a database

• Display in a graph: (maybe using jpgraph.net)

  • Four wheel speeds;
  • Resultant speed;
  • Waste speed (omni equation);
  • Force direction;
  • Energy consumption;
  • Battery voltage;
  • Time till battery dies;

• Get data from RF

• Use time Multiplexation to pass all data

• Treat Data (filters)

• Calibrate Controler params (probably PID) using data

Currently the package to control the robot is as follows:

 +---+-----+-----+---+----------------------------+
 |'a'| v_n | v_t | w | reserved for the future... |
 +---+-----+-----+---+----------------------------+

where:

• v_n: normal speed
• v_t: tangential speed
• w: angular speed

There is a problem in transmission device that makes it stop after a fixed number of packages. This is probably a problem in the USB driver/linux stuff... who knows...

To test a set of commands to be sent to the robot, just do as follows: