Change Log
Version 5.1 introduced June 29, 2004
        Coordinate system added.  The methods setPosition and getPosition in RoverState
        access the position stored in HighLevelState.  The X axis runs parralel to the
        rover.  This requires the stayton firmware 2.1 update for use.

        Calibration program updated to allow small negative drive and turn speeds to 
        accomodate the new faster motors.  These also require firmware 2.1 for use.

        Fixed bug with BasicGUI so that clicking a disabled button now does nothing.
        Fixed the command1 example in BasicGUI so that it matches the Beginner's
        Guide document. Call stop on exit. Improved autoscrolling.

        Diagnostic program displays rover code version number in title bar.

        The kill method in WallFollowAction is now functional.

        Replaced TrackWindow with Vision. Vision supports motion detection 
        and line following as well as color tracking.

Version 5.1 beta introduced May 7, 2004
        Introduced BasicGUI as a graphical user interface for people wishing
        to program a PER. Examples is a duplicate of BasicGUI with sample programs.

        Added functions to Rover to allow saving images, scheduling execution, 
        and taking time lapse pictures. Added functions to RoverController to
        enable color tracking, motion detection, brightness sensing, and accessing
        the drive and turn calibration stored on the rover. Added getRecentImage
        and getImageUpdateTime methods to the Action interface. Added SmartWanderAction,
        DanceAction, DetectMotionAction, CreepAction, and WallFollowAction. Note that
        the DetectMotionAction and WallFollowAction will not work util version 2.0.0
        or later of the Stargate code is released and installed on the robot.

        Added TrackWindow (and supporting file TrackFinder) as an easy way for
        people to test color tracking.

        Moved Filter and ImagePreview from exhibit.GUI package to rover package.

        Added an optional JTextArea to Log.

        Added new RoverState constants NOT_CONNECTED and RESOURCE_CONFLICT.
        Removed constants that are no longer used.

Version 5.0 introduced March 4 2004
        Note That version 5.0 was internally labeled 4.4 so the version number
        displayed and the number listed in the log files will say version 4.4
        when it should read 5.0.

	New file system organization. 

	Updated Exhibit batch files to correspond with new file system organization. Kiosk
	desktops should be updated with the new files. 

	Version number is now recorded in the log files. Log files for the Exhibit
	program now include the word exhibit in the file name.

        Fixed bug introduced in version 4.3 in which motion events were consumed in 
        MissionCentral and MissionCentral would always timeout when the time had 
        expired regardless of mouse motion. Also added functionality so that clicks
        and motion over the panorama and map will reach the timeout motion listener
        and prevent timeouts.

        Panorama test windows are now disposed of when closed by the user so that
        memory can be reclaimed.

Version 4.4 introduced February 4 2004
	Fixed update issue which caused the rover's actions to lag behind the
	rover status displayed on screen.

	Fixed bug in Calibration software that caused incorrect values to be displayed
	when loading a calibration file from a rover on which the tilt servo's range
	had been changed. Calibration will now work correctly for old and new tilt servos.

	Removed unused GUI files.

Version 4.3 introduced January 16 2004
	PER4.3 introduces a popup menu triggered by a right click in Mission
	Central. The four menu choices are "Navigate and find rock", "Navigate
	only", "Turn only", and "Take new panorama." Selecting one of these options
	will skip the final countdown and go directly back to taking a new
	panorama. The mission clock continues to run until a mission is completed
	through the Go button (or a timeout).

Version 4.2b introduced January 13 2004
	The panorama tilt angle is now adjustable on the expert tab of the Exhibit

	Also fixed a bug. If there was an obstacle during approach rock, it used to think it was
	an error and now assumes it is the rock.

	Also, this updates rover firmware to Cereb12 for cerebellum and Exhibit11 for Stayton.
	The latter slows down drive motors to 80%PWM so that at stall the gears don't break.
	The former slows down servo motion (steering and tilt) significantly and remembers
	previously commanded position, to reduce force and wear on the tilt servo in particular.
