Was Able to Get BAM working with iRobot Create

I just ran a couple of quick checks at home with both my work laptop (Windows XP) and the Ubuntu Laptop. I used RealTerm on the Windows laptop and was met with some success using "128 132 136 4" as the series of commands: start, go to full, execute figure 8 pattern. All I had to do was plug in the BAM, connect the Bluetooth via 0000, and send out the byte stream (not ASCII characters). Using the Ubuntu Laptop was pretty much the same, plugged in the Class III bluetooth dongle, connect the Bluetooth via 0000, and send out a hex series using the moserial Terminal emulator with "80848804". The Class III bluetooth dongle gives a max range of 300 feet. Now that I know that I can communicate with the BAM on the iRobot Create, I can now get down to writing some interface code. I will probably base much of the interface code off of the libiRobot package by USC's ILab. I would rather start from a package that I know works than write my own right now. I have a lot of other levels of software to go through before I can claim success. It might seem like I am far behind but I am trying to concentrate on the software architecture with the inference network as opposed to putting code at the bottom layer. I am almost at the point of testing the inference network classes.

Changes to Arm and Updates

I modified the robotic arm to only have 5 DOF capability due to arm loading issues.  I also purchased a Chumby Hacker Board to control a second robot. I need the second board to start working on the networking capability with the bots for the competition.  Right now I need to get on the stick and get some designs done.  I have been working on the software architecture which includes a statechart mechanism and a blackboard system.  The two of these will go hand in hand to get the overall architecture going. Right now I am also getting some updates and configurations for the development system on the Ubuntu Laptop up and running. I will begin working on compiling a kernel for the CHB and for the Chumby One that I have. I have also ordered a BAM and bluetooth USB connector for connecting to the iRobot Create without a physical connection.