ECE/CS4710 ECE/CS4710

AnnouncementsAnnouncements– http://mailman.cs.utah.edu/mailman/listinfo/cs4710http://mailman.cs.utah.edu/mailman/listinfo/cs4710

to get on cs4710 mailing listto get on cs4710 mailing list– Do assignments on class web page for 02 Sept Do assignments on class web page for 02 Sept

(esp. Eclipse) (esp. Eclipse)

HockeyBot DemoHockeyBot Demo One successful project in 4710One successful project in 4710 What is same/different this yearWhat is same/different this year From Eclipse to Blink DemoFrom Eclipse to Blink Demo

HockeyBot DemoHockeyBot DemoSimplified Rules:Simplified Rules: Discover Home Discover Home

goal colorgoal color Search for the ballSearch for the ball Get the ballGet the ball Discover Opposing Discover Opposing

GoalGoal– If found shoot into If found shoot into

GoalGoal– Else if 5 seconds Else if 5 seconds

pass, shoot ballpass, shoot ball

Defining the projectDefining the project

Choose TeamChoose Team Trademark SearchTrademark Search BrainstormBrainstorm

– Include other Include other teamsteams

Get Initial OKGet Initial OK Write ProposalWrite Proposal Get Final ApprovalGet Final Approval

Defining CielguardDefining Cielguard

Got a partnerGot a partner– A third joined laterA third joined later

Several Ideas TakenSeveral Ideas Taken– Many *soft takenMany *soft taken

Two Robots that play Two Robots that play catchcatch– Found another teamFound another team

Initial OK not givenInitial OK not given– Specified more and Specified more and

moved to hockeymoved to hockey Wrote ProposalWrote Proposal Created HockeyBot Created HockeyBot

FederationFederation 2 more teams joined 2 more teams joined

FederationFederation

The ProposalThe Proposal

Living DocumentLiving Document Includes Past, Includes Past,

Present, and Present, and FutureFuture

ProcessesProcesses– ProblemsProblems

Slacking PartnersSlacking Partners UnanticipatedUnanticipated

– CodeCode TestingTesting SharingSharing VersioningVersioning

The JourneyThe Journey

Proposal became Spec (and Proposal became Spec (and changed)changed)

First ones to get a First ones to get a HockeyBot RunningHockeyBot Running– Unit Testing/Quick Small Unit Testing/Quick Small

IterationsIterations– VersioningVersioning– Everyone Else was a 48h Everyone Else was a 48h

before duebefore due– Simple Architecture Simple Architecture

(Subsumption)(Subsumption) Many, Many IssuesMany, Many Issues

– Camera LagCamera Lag– Camera Packet LossCamera Packet Loss– Chassis IterationsChassis Iterations– Partner ProblemsPartner Problems

Well Designed Processes Well Designed Processes WorkWork

How JIM really worksHow JIM really works

Subsumption based Subsumption based State MachineState Machine

Minimal AbstractionMinimal Abstraction– Hardware Specifics Hardware Specifics

are 1 class deeper are 1 class deeper (lean and mean)(lean and mean)

Different Sensors Different Sensors for different needsfor different needs

Our ResultsOur Results

Beat the scheduleBeat the schedule– Working on PID Working on PID

Control which was Control which was not in proposalnot in proposal

– Used tested 1 month Used tested 1 month old code in Finalold code in Final

Got the AGot the A– ScheduleSchedule– DocumentationDocumentation

Didn’t win contestDidn’t win contest– Did do damage to Did do damage to

competitorscompetitors

Same VS DifferentSame VS Different

SameSame– Documentation Documentation

RequiredRequired– JEM ToolsJEM Tools– JStampJStamp– JCX Integration with JCX Integration with

LegoLego® Mindstorms® Mindstorms– Weekly Project Weekly Project

Updates with source Updates with source submissionssubmissions

– Questions?Questions?

DifferentDifferent– Coding Standards Coding Standards

RequiredRequired– Eclipse IDEEclipse IDE– JStikJStik– JCX API different from JCX API different from

last yearlast year– Weekly Project Weekly Project

Submissions with ant Submissions with ant build scriptbuild script

– Questions?Questions?

Tool ChainTool Chain

IDE of choice (Eclipse IDE of choice (Eclipse Recommended)Recommended)

JEMBuilder (linker/configurations)JEMBuilder (linker/configurations) Charade (Processor Level Charade (Processor Level

Debugger through JTAG)Debugger through JTAG)

Why Eclipse?Why Eclipse?

Lots of Java IDE’s out there.Lots of Java IDE’s out there. Eclipse is:Eclipse is:

– FastFast– SmartSmart– ExtendableExtendable– Not Limited to JavaNot Limited to Java– Industry is adopting itIndustry is adopting it

Tool Chain DemoTool Chain DemoProject BlinkProject Blink Eclipse ProjectEclipse Project (Missing ant automatic build)(Missing ant automatic build) Auto Javadoc comment GenerationAuto Javadoc comment Generation Javadoc creation from EclipseJavadoc creation from Eclipse JEMBuilder projectJEMBuilder project Charade DownloadCharade Download Charade DebugCharade Debug

SuggestionsSuggestions

1 Semester1 Semester– ambitious time frame for a Senior Projectambitious time frame for a Senior Project– If you are not experienced in Java do tutorials nowIf you are not experienced in Java do tutorials now

Default is that you use materials providedDefault is that you use materials provided– JStamp/JStik/Amulet LCD/Sonar/Lego/ CMU JStamp/JStik/Amulet LCD/Sonar/Lego/ CMU

Cam/Wireless Modem/Java LanguageCam/Wireless Modem/Java Language– If you choose not to you must:If you choose not to you must:

Push Bruce for permissionPush Bruce for permission Show compentency in the fieldShow compentency in the field Have your own budget available-nowHave your own budget available-now Realize that the help available is minimalRealize that the help available is minimal Still accomplish the early tutorial assignments in JavaStill accomplish the early tutorial assignments in Java