The first test of my robot platform using wheel encoders and a rough PID loop to perform a box routine. The overshoot and quick turn around are because I did not round off the corners of the box pattern so as the robot finishes one segment it realizes that is has gone to far and quickly turns to get back on course.
I’ve been working on a c library to simplify access to the gpio on the BeagleBone board for use with the robot I am working on. My initial pass at this worked decently but was not as flexible as I had hoped. Over the past week or so I’ve been re-writing the majority of the code as a base class and set of derived classes to handle the various pin functions. So far I have objects to handle accessing analog pins, basic digital gpio I/O, and serial ports. The results of my work can be found at: http://code.google.com/p/beagleio/source/browse/branches.