SwARM, building robots and hunting bugs

Hi everyone,

Since last post I made with Perceval a batch of 6 robots. We still have to test them all.

I also wrote a system to get coding wheel ticks with the ADC since we had no good result with the comparators. We tested it and it seems to be working.

I wrote smaller sin, cos, acos function that allow us the save 7KB in flash (otherwise the project didn’t link). Of course we have a slightly worsened precision but it should still do the job.

We tried to help Alban and Paul debugging without success …


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