Introduction
------------

This package contains the source code for a two wheel robot controller.
This code is designed to run on a Ubicom (formerly Scenix) SX
microcontroller. It has the following functionality:

* PID control of two wheels. Wheels controled with PWM signal, position
reported using optical encoders.

* Integration of robot position and direction from the wheel motion read
from the optical encoders.

* Generation of trapeze shape velocity profiles.

* Communication with the main processor of the robot over a SPI (Motorola)
interface.

Contents
--------

This package is a mess, and will probably remain this way. Documentation is
available in French in Documentation.pdf. If you want the .tex file this
was generated from to translate it, I'll send it to you.

The main file is sasterix.asm or sobelix.asm (they contain different
parameters for different robots). These files should just compile with the
Scenix assembler (unless they have made incompatible changes to it in the
past 5 years), I can provide you with the version I have if you ask.

Some of the files here aren't even part of this package. Don't worry about
it too much. :-) For example bug.asm and bug2.asm triggered some bugs in
one of the versions of the assembler.

Contact
-------

I can be reached at blaise@gassend.com

