Big To Do List

Updated for pre-decompression Jtfoote 19:02, 5 October 2007 (MST)

Near Future

Orb Issues

See Orb Maintenance page

• Dust and clean
• clean and lube chain and sprockets
• charge batteries
• Repair/replace broken kill dongles and "fakey" connectors
• clean shells: pressure wash after removing bearings
• Grease zerk bearings with grease gun
• Upgrade all chassis to standard (install dome, fix LED power wiring)
• Check integrity of Illuminator mounts on agg. lids and replace if necessary (62 is worst, others OK)
• Bead-blast/anodize shells?
• Deburr inside of large holes near hubs. So we can stick our skinny arms through without scraping them.
• Install gaskets on aggregator lids
• Check all power studs are tight and have lock nuts.
• ensure all LED/Sound connections have strain reliefs.
• Collect tools and parts for Magic Box

Electronics

• fabricate replacement H-bridges and test/install
• Build and test dedicated Zigbee remotes
• Install IMUs on all orbs
• Document everything on Wiki

Software

• Finish LED AVR firmware and reflash all LED modules
• Refactor daughterboard AVR code
  • Add software steer zero calibrate
  • harmonize data structs and getter calls
  • Reflash all modules
• Debug sound module and reflash
  • Rebuild mechanically unsound modules
• Document communication protocols & architecture in Wiki
• Experiment with IMU tilt sensor steering feedback
• Enhance mothernode software (variable max speed, command-line settings, autorun)
• Mothernode software for stand performances (fixed-location).

SPU Crew

• Makefile maintenance (can we test/run spu code without a spu?)
• New SPU parser using Lemon machine-generated code
• Battery status monitor -- flash LEDs on low battery?
• Look at shared memory process communication

Publicity

See SWARM Publicity page

• press kit
• professional management?
• Thank You Packs
• Update web site to be less BM-centric
• Update Wiki (parts are really stale)
• MySpace page -- music from Simran?
• Videos to YouTube
• Update SWARM tribe on tribe.com

• fund raising opportunities

Misc

• fix dead spu with external 3.3v supply
• Box/platform for remote controls / mothernode mouse/keyboard
• Install downward reflectors on LED pods
• Install two more LED pods per orb to light up entire orb
• Tidy and vacate Swarm Dorm
• find/make "Orb Socks:" waterproof covers to go inside crates (Giant leaf trash bags? Rain ponchos? Custom-sewn tarps?)
• Return SPU with misbehaving flash mem;

Future

Autonomous Navigation

• Install drive encoders
• Install aggregator/GPS
• Benchmark GPS modules
• Benchmark GPS base stations
• develop and document interface

Software and Control

• Matlab/Octave Model
• Estimator design
• feedback control design
• Choreography Design Interface
• Upgrade SPUs to 2.6 kernel? (Now supported by TS)

Choreography Design

• Identify Choreographers
• Think about communicating choreography without hardware
• Interactivity beyond remote controls. Wand? Sensors?