Groundhog Experiment Log 2003 09 30
Bruceton Mills research mine

Notes:

Wireless AP bandwidth reduced to 1.5 mbps for stability... seems solid.
modified carmaster to have the following behavior:
  - on startup, if no mode file available, assume outside the mine and
    await sendcommand autonomous
  - if mode file is available, assume we have rebooted and switch to return mode immediately.

Getting the Archos started up is a pain in the ass.
Always check the connectors.

TODO: mod heartbeat to include a little more information: how far, and what modes at least.

9:30 AM: start 40 M autonomous run into the left portal
10:00 AM: success! -> run1

10:12 AM: start 40M autonomous run 2 : try to force return at about 20 m. first beat: 1090
10:18 AM: sent return command
10:24 AM: sent manual (stop) command -> success
10:26 AM: restarted carmaster to check "come back auto" logic.
10:29 AM: success! -> run2

10:43 AM: start 100 M run (no outside interference) first beat 2023
11:08 AM: started back
11:33 AM: completed -> run3

12:02 PM: cold boot groundhog for next trial, should come up in "ready to go" mode.
12:06 PM: robot is online awating the "go" command, sending "go"

12:13 PM: another cold boot (too far from portal?)
12:14 PM: start again...success!
12:19 PM: power switch flicked off-then-on to simulate hard reboot in mine...
12:25 PM: confirmation from heartbeat that the machine is working
12:30 PM: robot exits the portal again without further intervention -> run4

12:32 PM: running groundhog into the mine until the wireless connection flakes out. - beat 260
12:40 PM: flaking at beat 361, lost on beat 383
12:43 PM: intermittent responses near beat 550, full signal at 582

12:49 PM: time to go home.