30 Mar 1999: Installing the PCM-5862 motherboard
Installed the PCM-5862 Multimedia Pentium Processor-based SBC with Audio, VGA/LCD and Ethernet. (W. van Geest)
31 Mar 1999: Setting BIOS options
Loaded a new BIOS without LCD support to get better CRT performance. (W. van Geest)
31 Mar 1999: Installing the AX10410 card
Installed the AX10410 analog/digital I/O card. (W. van Geest)
6 Apr 1999: Software for the AX10410
Started writing the AX10410 software, just a simple program to check basic functionality. (W. van Geest)
7 Apr 1999: Installing the AX10410 card
The default I/O address for the AX10410 conflicted with the sound chip. The I/O address is now 0x310. (W. van Geest)
22 Apr 1999: Mounting the power supply
Installed the 24/5 volt DC/DC converter behind the Nomad power supply PCB. (W. van Geest, R. van Puffelen)
26 Apr 1999: Mounting the computer
Mounted the motherboard under the lid of the Nomad and connected the power supply and the BreezeNET (W. van Geest)
29 Apr 1999: Software for the AX10410
Documented the user-callable functions. (W. van Geest)
21 May 1999: Mounting the computer
Designed new carrier and added more information about the required cables. (W. van Geest)
21 May 1999: An implementation for the Message System
Initial explanation of the message/queue system for the software. (W. van Geest)
25 May 1999: An implementation for the Message System
Defined the functions. Wrote some background information. (W. van Geest)
26 May 1999: An implementation for the Message System
Added the source parameter to NewMessage. We don't know which module is calling NewMessage. (W. van Geest)
27 May 1999: Software for the AX10410
Changed the names of the analog I/O routines. (W. van Geest)
28 May 1999: Mounting the computer
Finished description of new carrier and mounting procedure. (W. van Geest)
04 Jun 1999: An implementation for the Message System
Changed names, removed PostAnswer and GetAnyAnswer (duplicated functionality), added MsgDestroy to destroy buffers. (W. van Geest)
21 Jun 1999: Software for the AX10410
Added the CtrlUnlock program to give non-root programs access to the AX10410 I/O space. (W. van Geest)
25 Jun 1999: An implementation for the Message System
Added a link to the distribution file and explained how to compile & link other applications with the message system. (W. van Geest)
30 Jun 1999: Setting BIOS options
Added some extra documentation about the reasons for the chosen BIOS settings. (W. van Geest)
30 Aug 1999: A convention for module implementations
Added documentation about my implementation convention for modules. (W. van Geest)
03 Sep 1999: An implementation for the Message System
Fixed a bug in MsgNewMessage and corrected a documentation error. (W. van Geest)
06 Sep 1999: An implementation for the Message System
Changed the name from "An implementation for the Robot software" into "An implementation for the Message System". (W. van Geest)
06 Sep 1999: The Sound Module
Wrote the first working version of the sound module. (W. van Geest)
06 Sep 1999: A convention for module implementations
Added some more details. (W. van Geest)
08 Sep 1999: Mounting the computer
Redesigned the power wiring, eliminating as many connectors as possible, because the voltage drop over the wiring was too high. (W. van Geest)
10 Sep 1999: How to use the CVS server
First version of my CVS system for the robot software. (W. van Geest)
15 Sep 1999: Our soccer field is ready
Ron van Puffelen (with some help from me) built a small soccer field at the Control Laboratory. It is just 4 m wide and 3 m long, but has all the right colors etc. (W. van Geest)
06 Oct 1999: The Motion Module
Added a description of the Motion Module, including a definition of units and directions. (W. van Geest)
11 Oct 1999: Mechanical problems with the Scout
The right wheel of our Scout Edgar didn't rotate anymore. The cause was the little sprocket on the motor axis, which had become loose. The motor worked, but the sprocket didn't move. Tightening the bolt in the sprocket fixed it. (W. van Geest)
12 Oct 1999: How to use the CVS server
Added some guidelines for module structure and usage. (W. van Geest)
13 Oct 1999: A convention for module implementations
More documentation over files for existing modules and a description of a standard Makefile. (W. van Geest)
14 Oct 1999: BreezeCOM reset problems
The BreezeCOM wireless ethernet interface on Scout Edgar resets itself for no clear reason. Using the original (220 V) power supply in stead of our battery based supply seems to solve it. Testing will continue. (W. van Geest)
14 Oct 1999: A convention for module implementations
Added links to the descriptions/explanations of the modules maintained by me. (W. van Geest)
19 Oct 1999: The Motion Module
Changed the directions of the X and Y axes. They are now much more logical, and match the robot axes. (W. van Geest)
06 Dec 1999: BreezeCOM blown out
During testing the battery based powersupply for the BreezeCOM, a short circuit momentarily connected +24 V to the BreezeCOM. This was fatal. The tests proved that the output voltage from the powersupply is too low. Ron van Puffelen is designing a new supply circuit now. (W. van Geest)
25 Jan 2000: Mounting the power supply
Ron van Puffelen designed and mounted a replacement PCB for Edwins power converters. Edwins original caused too much problems. (W. van Geest)
26 Jan 2000: An implementation for the Message System
Added the MsgNewQuestion function to prepare for network communication. Revised the MsgSetup function code. Added queue ID caching to increase speed. (W. van Geest)
28 Jan 2000: IMAP power supply
Ron van Puffelen built and tested a power converter for the IMAP card. We did some measurements and calculations and we're afraid that the Nomad power supply is insufficient. You can check our calculations here. (W. van Geest)
04 Feb 2000: The Communication Module
Started documenting the Communication Module and its interaction with the Message System. (W. van Geest)
25 Feb 2000: The Communication Module
Created version 3.0 of the Message system, which now includes the Communication Module. Wrote some very basic documentation of the functions in the CMM. (W. van Geest)
07 Mar 2000: An implementation for the Message System
Improved the documentation about buffer creation and deletion and added some examples. (W. van Geest)
10 Apr 2000: The Communication Module
Moved the defines for the aliases to Main.h. Added aliases for zones, markers and shapes. Divided the aliases in groups so it's easier to determine the type of an alias. (W. van Geest)
11 Apr 2000: The Motion Module
Re-implemented the Motion Module, according to the Architecture Draft 4.7. The functions for the touch sensors are not implemented yet because the touch sensors don't work. The function set_impact_trigger is implemented, but the actual trigger mechanism is still missing. Added some documentation. (W. van Geest)
04 May 2000: The Motion Module
Added MtnMoveLongDistance (with timeout parameter). Unsuccesfully tried to work around bug in Scout controller, where st() after pr() will first stop right motor, then left. This makes the robot turn when MtnMove(Long)Distance is timed out. (W. van Geest)

Last updated on 16 November 2000