2006 CMUcam2 Code

[nheft]

Thanks for the tests and the offer to let us try our code on your RC.

Looks like I we're going to use the RC the way it is. IFI looked at it and said they can't find anything wrong. So whatever I find from this point looking forward, I'm stuck with it the way it is.

I agree that it's a subtle timing flaw that does not manifest itself with the default code. I don't even think it happens on all RC's. (yours does not seem to have the problem)

I came up with a test that waits for the first 16 packets to come in, verifies that the packet_num increments for the 11th through the 16th consecutive packets. (I noticed that on startup, with the OI getting its power through the tether cable, the packets don't start incrementing regularly until after the tenth packet.) Once this test passes, I never see a failure in the RC. If the test fails, I go into a trap that forces a code error. Now we always get either a good start or a code error, never a bad start that looks like everything is fine.

Originally Posted by Mark McLeod

No luck (questionable usage I suppose) duplicating your issues with our RC.

I have to think as Kevin does that the use of the camera code is just exposing a flaw or a timing issue in your particular RC that the IFI default code does not.

If you're up for a road trip Neil (maybe hard for the Alberta and Idaho folks) and think it could be beneficial you are welcome to try your code and tests on our 2006 RC and we can swap in various cameras as well. Try dropping by a nearby team and repeating your tests.