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Created with Raphaël 2.2.027Jul24191826Jan12Oct66Sep526Aug31Mar29Jan287Sep31Aug25227Sep24Aug87219Jul181715412Jun107627May231716121110129Apr16151413111031Mar17Feb161028Jan17Dec9230Nov1Sep16Jul1Sep1Aug29Jul287Added a new configuration parameter to let the software know the actual orientation of the gyroscope sensor. Needed to properly balance the robot.servo_offsetservo_offsetModified the sensors example to use the BNO055 IMU.Increased the time before the dynamixel bus scan to allow time to the expansion board to initialize.Added the interface to the BNO055 IMU to the expansion board.Minor changes to solve a problem in the Gazebo simulator.Solved some bugs in order to use the offsets also as a master.Added an example of the CM510 controller as an slave.Modified the main CM510 module to initialize and use the dynamixel slave interface (if it is configured as an slave).Modified the motion manager, balance and action modules to update the dynamixel slave mempry interface (in case the CM510 is working as a slave).Added a dynamixel slave module.Removed the dexter_robot folder.mastermasterReplaced the missong Makefile for the motion library.Added functions to read and write raw data from the serial console interface.Updated the stairs example to use the motion librray and the actual GPIO ports.solved bug in turning aroundnewbranchnewbranchMerge branch 'master' of https://gitlab.iri.upc.edu/humanoides/cm510_controller_fwsolved bug in mtn_library[bioloid_robot] Added the expansion board firmware for completeness1.01.0VErsion of the main for the darthvader demo.Changed the example code of the motion library.Stable version of the CM510 firmware in CStable version of the CM510 firmware in C.Solved a problem with a failed mergeMerge branch 'master' of https://gitlab.iri.upc.edu/humanoides/cm510_controller_fwSolved a problem with the transmission. It got blocked due to an unknown error. Added a timeout to avoid this error.Merge branch 'master' of https://gitlab.iri.upc.edu/humanoides/cm510_controller_fwChanged the sign of the fall detection thresholds (both forward and backward) to execute the correct action in each case.Increased the delay before scanning the dynamixel bus.Removed the __REAL__ macro from the cm510_printf function to allow communication with an external device using the rserial port in the real robot.Solved a bug that made the robot shake after initialization. The default compliance slope value was 32 instead of 5 which gave the maximum control slope to the servos and any small position error made them oscillate.Changed the default ID of the expansion board from 192 to 30.Solved a problem when the emmulated servos were sent to their current position. The module got stucked.Changed the voltgae threshold to activate the low battery alarm (set to 9V)Merge branch 'master' of https://gitlab.iri.upc.edu/humanoides/cm510_controller_fwadded mtn_library filesAdded custom printf and scanf functions to avoid unnecessary text send via the serial port in the real robot.Defined a local printf function to help in the simulator. Not working yet.Integrated a pan&tilt module into the motion manager.Changed the way the detected servos are stored in memory for performance issues. The Id coincides with the vector position.added mtn_library to motion directory