Mark Johnston

Implement a system wide I2C lock that is enforced by kernel

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We should implement a system wide I2C access locking scheme. Rohan has suggested to use this approach: See I2C_RDWR in here https://www.kernel.org/doc/Documentation/i2c/dev-interface And some example code here: https://gist.github.com/JamesDunne/9b7fbedb74c22ccc833059623f47beb7

MotorSerial::transmitCommands uses a hard coded 2 millisec delay for MCB groups of commands

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Found this deep in the mud. We can be jamming commands down the throat of the MCB faster than it can process them in all cases of worse case delay....

Need extrinsic calibration: Upward facing camera being non-planer with the floor impacts navigation

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We have been seeing the stock RaspiCam cameras being as much as 1-2 degrees off of pointing up completely normal to the floor. A very tiny offset in pitch of...

As we move forward on Pi4 as well as possible other Nvidia Nano and so on I feel we should place 4 m3 holes in the bottom of our chassis....

Account for git credential authentication on future images

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Need to understand and try the git authentication based repository access on our images. It is likely to be fine but as of Aug 13 2021 (A Friday by the...

Adding support for nav2D flat nav. Adding some existing ROS params to…

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- Adding launch files for new 'flat' navigation or nav2D mode. - Additions to move_basic.launch for better visibility from launch file. Am trying to set the current software defaults in...