[WheelCommander] Beta Firmware and Wizard Release

[Pete Skeggs <plskeggs@xxxxxxxxxxxxxxxx>]

Good news.  We have just posted beta versions of WC-132 firmware and 
software to our web site here:
http://www.nubotics.com/products/wc132/index.html
Look for Customer Downloads along the right side of the page.

We will post more details soon.  But for now, here are some of the 
significant improvements:

1. Many things can now be adjusted, and/or are now 16 bit values instead 
of 8:
- programmable encoder ticks per rotation (was fixed at 128)
- use of quadrature encoder signals or sign/magnitude (was only 
sign/magnitude)
- wheel diameter (16 bits)
- wheel base (16 bits)
- derivative term for steering control

2. Calibration is considerably improved, including:
- better algorithm
- independent calibration values for each wheel

3. Position and angle control has many improvements, such as:
- trapezoidal profiles (velocity and acceleration control)
- velocity feedforward control

4. You can now query the raw encoder counts.

5. We have added a new feature -- a programmable interrupt generator, 
which causes a specified digital output pin to assert for a variety of 
conditions, including end of movement, change of an input line (analog 
or digital), and so on.

If you give this a try, please let us know.  We will be restarting 
production of the WC-132 and shipping units to distributors again shortly. 

Any feedback you can give would be much appreciated.

Sincerely,
Pete Skeggs
Nubotics