v1.5

Release Overview

This release patches functionality in logic and increases stability for competition. Some notable improvements include:

• Ability to switch gracefully between autonomous and manual control
• Arduino port can be queried to communicate with an RC controller
• Major changes to logic to correct bugs
• Implemented a new, more stable GPS socket in C
• Minor improvements to logging individual runs
• Optimizations to setup and build scripts, separating socket initialization from program execution

v1.0

Release Overview

This SailBOT release lays a core foundation for program logic and execution that will be built upon in future releases.

Tied together by a shell script, this release contains many of the drivers need to interface hardware components in SailBOT. These include modules for reading from a wind sensor and gps and writing to a servo motor.

One of the goals of the project was to make a system that was modular in design and highly verbose during execution. There is a common and highly-used logging system with a web interface running on a web socket used for recording all the logic and data transmission as well as offering a real-time display of processes inside SailBOT.

The SailBOT project is a unique mix of high-level and low-level systems. It utilizes libraries such as I2C and GPSD for retrieving data from the hardware and onboard sensors, while extensively using TCP sockets to transmit data from the Python drivers to the main program.

Running SailBOT

Each of the modules can be run separately, but all are required for successful execution of the main program:

GPSD socket:

sudo python "modules/pgps.py"

Wind sensor socket:

sudo python "modules/wind_sensor.py"

Servo socket:

sudo python "modules/servo.py" 9107 18 1.5 1.2

Launching the main program:

sudo python3 main.py

Building and configuring the Raspberry Pi to install all the packages needed to successfully run SailBOT:

sh build.sh