Index: Tekkotsu/project/Makefile
diff -c Tekkotsu/project/Makefile:1.56 Tekkotsu/project/Makefile:1.59
*** Tekkotsu/project/Makefile:1.56	Tue Dec 23 01:33:44 2003
--- Tekkotsu/project/Makefile	Mon Feb  2 17:36:51 2004
***************
*** 126,132 ****
  CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makelowercase
  
  BINSUFFIX=.bin
! INSTALLDIR=ms/open-r/mw/objs
  MMCOMBOBIN=mmcombo.bin
  MAINFORK=mainobj.bin
  MOTOFORK=motoobj.bin
--- 126,133 ----
  CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makelowercase
  
  BINSUFFIX=.bin
! MSIMGDIR=ms
! INSTALLDIR=$(MSIMGDIR)/open-r/mw/objs
  MMCOMBOBIN=mmcombo.bin
  MAINFORK=mainobj.bin
  MOTOFORK=motoobj.bin
***************
*** 134,140 ****
  else
  
  PROCESSES=MMCOMBO TINYFTPD SNDPLAY
! MMCOMBO_OBJS:=$(MAIN_SRCS:$(SRCSUFFIX)=.o) $(MAIN_SRCS:$(SRCSUFFIX)=.a) $(TEKKOTSU_ROOT)/$(BUILDDIR)/MMCombo.o
  MMCOMBO_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf
  TINYFTPD_OBJS:=$(TEKKOTSU_ROOT)/$(BUILDDIR)/TinyFTPD.o
  TINYFTPD_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf
--- 135,141 ----
  else
  
  PROCESSES=MMCOMBO TINYFTPD SNDPLAY
! MMCOMBO_OBJS:=$(MAIN_SRCS:$(SRCSUFFIX)=.o) $(TEKKOTSU_ROOT)/$(BUILDDIR)/MMCombo.o
  MMCOMBO_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf
  TINYFTPD_OBJS:=$(TEKKOTSU_ROOT)/$(BUILDDIR)/TinyFTPD.o
  TINYFTPD_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf
***************
*** 143,149 ****
  CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makeuppercase
  
  BINSUFFIX=.BIN
! INSTALLDIR=MS/OPEN-R/MW/OBJS
  MMCOMBOBIN=MMCOMBO.BIN
  MAINFORK=MAINOBJ.BIN
  MOTOFORK=MOTOOBJ.BIN
--- 144,151 ----
  CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makeuppercase
  
  BINSUFFIX=.BIN
! MSIMGDIR=MS
! INSTALLDIR=$(MSIMGDIR)/OPEN-R/MW/OBJS
  MMCOMBOBIN=MMCOMBO.BIN
  MAINFORK=MAINOBJ.BIN
  MOTOFORK=MOTOOBJ.BIN
***************
*** 241,247 ****
  		echo "Copying system files..." ; \
  		cp -r $(OPENRSDK_ROOT)/OPEN_R/MS/WCONSOLE/nomemprot $$image ; \
  		chmod -R u+w $$image ; \
! 		$(CONVERTCASE) -r $$image ; \
  		rm -f $$image/open-r/mw/conf/connect.cfg $$image/open-r/mw/conf/object.cfg $$image/open-r/system/conf/wlandflt.txt ; \
  		curt=`date +%Y%m%d%H%M`; \
  		find $$image -exec touch -ft $$curt \{\} \; ; \
--- 243,249 ----
  		echo "Copying system files..." ; \
  		cp -r $(OPENRSDK_ROOT)/OPEN_R/MS/WCONSOLE/nomemprot $$image ; \
  		chmod -R u+w $$image ; \
! 		(cd $$image; $(CONVERTCASE) -r . ); \
  		rm -f $$image/open-r/mw/conf/connect.cfg $$image/open-r/mw/conf/object.cfg $$image/open-r/system/conf/wlandflt.txt ; \
  		curt=`date +%Y%m%d%H%M`; \
  		find $$image -exec touch -ft $$curt \{\} \; ; \
***************
*** 407,440 ****
  
  #INSTALL_BINS:     (compressed executables, in proper location in image directory)
  $(INSTALLDIR)/%$(BINSUFFIX): $(BUILDDIR)/%$(BINSUFFIX)
  	@echo "Compressing $< -> $@"
  	@gzip -c $< > $@;
  
  $(INSTALLDIR)/$(MMCOMBOBIN): $(INSTALLDIR)/$(MAINFORK) $(INSTALLDIR)/$(MOTOFORK)
  
  $(INSTALLDIR)/$(MAINFORK): $(BUILDDIR)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap
  	@echo "Compressing $< ~> $@"
  	@$(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap $< MMCombo MainObj | gzip -c > $@
  #	@sed 's/MMCombo/MainObj/g;s/mmcombo/mainobj/g' $< | gzip -c > $@
  
  $(INSTALLDIR)/$(MOTOFORK): $(BUILDDIR)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap
  	@echo "Compressing $< ~> $@"
  	@$(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap $< MMCombo MotoObj | gzip -c > $@
  #	@sed 's/MMCombo/MotoObj/g;s/mmcombo/motoobj/g' $< | gzip -c > $@
  
  install: compile
  	@echo "Installing files to memory stick at $(MEMSTICK_ROOT)"
! 	@$(TEKKOTSU_ROOT)/tools/cpymem --all --img ms --tgt $(MEMSTICK_ROOT) --tools $(TEKKOTSU_ROOT)/tools
  
  update: compile $(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime
! 	@echo "Syncing ms and $(MEMSTICK_ROOT)"
! 	@$(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime `find ms`
  	@$(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT)
  	@if [ $(STRICT_MEMSTICK_IMAGE) ] ; then \
  		echo "Strict image copy is on." ; \
! 		rsync -rLtWCv --delete ms/* $(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \
  	else \
! 		rsync -rLtWCv ms/* $(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \
  	fi;
  	@$(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT)
  
--- 409,454 ----
  
  #INSTALL_BINS:     (compressed executables, in proper location in image directory)
  $(INSTALLDIR)/%$(BINSUFFIX): $(BUILDDIR)/%$(BINSUFFIX)
+ 	@if [ \! -d "$(INSTALLDIR)" ] ; then \
+ 		echo "I can't find $(INSTALLDIR).  You may need to run '$(TEKKOTSU_ROOT)/tools/makeuppercase -r ms'."; \
+ 		exit 1; \
+ 	fi;
  	@echo "Compressing $< -> $@"
  	@gzip -c $< > $@;
  
  $(INSTALLDIR)/$(MMCOMBOBIN): $(INSTALLDIR)/$(MAINFORK) $(INSTALLDIR)/$(MOTOFORK)
  
  $(INSTALLDIR)/$(MAINFORK): $(BUILDDIR)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap
+ 	@if [ \! -d "$(INSTALLDIR)" ] ; then \
+ 		echo "I can't find $(INSTALLDIR).  You may need to run '$(TEKKOTSU_ROOT)/tools/makeuppercase -r ms'."; \
+ 		exit 1; \
+ 	fi;
  	@echo "Compressing $< ~> $@"
  	@$(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap $< MMCombo MainObj | gzip -c > $@
  #	@sed 's/MMCombo/MainObj/g;s/mmcombo/mainobj/g' $< | gzip -c > $@
  
  $(INSTALLDIR)/$(MOTOFORK): $(BUILDDIR)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap
+ 	@if [ \! -d "$(INSTALLDIR)" ] ; then \
+ 		echo "I can't find $(INSTALLDIR).  You may need to run '$(TEKKOTSU_ROOT)/tools/makeuppercase -r ms'."; \
+ 		exit 1; \
+ 	fi;
  	@echo "Compressing $< ~> $@"
  	@$(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap $< MMCombo MotoObj | gzip -c > $@
  #	@sed 's/MMCombo/MotoObj/g;s/mmcombo/motoobj/g' $< | gzip -c > $@
  
  install: compile
  	@echo "Installing files to memory stick at $(MEMSTICK_ROOT)"
! 	@$(TEKKOTSU_ROOT)/tools/cpymem --all --img $(MSIMGDIR) --tgt $(MEMSTICK_ROOT) --tools $(TEKKOTSU_ROOT)/tools
  
  update: compile $(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime
! 	@echo "Syncing $(MSIMGDIR) and $(MEMSTICK_ROOT)"
! 	@$(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime `find $(MSIMGDIR)`
  	@$(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT)
  	@if [ $(STRICT_MEMSTICK_IMAGE) ] ; then \
  		echo "Strict image copy is on." ; \
! 		rsync -rLtWCv --delete $(MSIMGDIR)/* $(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \
  	else \
! 		rsync -rLtWCv $(MSIMGDIR)/* $(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \
  	fi;
  	@$(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT)
  
Index: Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc
diff -c Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc:1.15 Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc:1.17
*** Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc:1.15	Wed Jan 21 00:48:58 2004
--- Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc	Thu Feb  5 18:57:40 2004
***************
*** 26,32 ****
  		BehaviorSwitchControlBase::BehaviorGroup * bg = new BehaviorSwitchControlBase::BehaviorGroup();
  
  		//put behaviors here:
! 		if(state->robotDesign&WorldState::ERS210Mask) //this one only really works on the 210
  			addItem(new BehaviorSwitchControl<AlanBehavior>("AlanBehavior",bg,false));
  		addItem(new BehaviorSwitchControl<FollowHeadBehavior>("FollowHeadBehavior",bg,false));
  		addItem(new BehaviorSwitchControl<SoundTestBehavior>("SoundTestBehavior",bg,false));
--- 26,32 ----
  		BehaviorSwitchControlBase::BehaviorGroup * bg = new BehaviorSwitchControlBase::BehaviorGroup();
  
  		//put behaviors here:
! 		if(state->robotDesign&(WorldState::ERS210Mask|WorldState::ERS7Mask)) //this one only really works on the 210 or 7
  			addItem(new BehaviorSwitchControl<AlanBehavior>("AlanBehavior",bg,false));
  		addItem(new BehaviorSwitchControl<FollowHeadBehavior>("FollowHeadBehavior",bg,false));
  		addItem(new BehaviorSwitchControl<SoundTestBehavior>("SoundTestBehavior",bg,false));
Index: Tekkotsu/project/StartupBehavior_SetupVision.cc
diff -c Tekkotsu/project/StartupBehavior_SetupVision.cc:1.11 Tekkotsu/project/StartupBehavior_SetupVision.cc:1.12
*** Tekkotsu/project/StartupBehavior_SetupVision.cc:1.11	Tue Jan 20 22:53:28 2004
--- Tekkotsu/project/StartupBehavior_SetupVision.cc	Thu Feb  5 14:35:47 2004
***************
*** 54,60 ****
  
  	defGrayscaleJPEGGenerator = new JPEGGenerator(EventBase::visRawCameraEGID,visRawCameraSID,visGrayscaleJPEGSID,JPEGGenerator::SRC_AUTO);
  	defGrayscaleJPEGGenerator->DoStart();
! 	defGrayscaleJPEGGenerator->setName("ColorGrayscaleGenerator");
  	spawned.push_back(defGrayscaleJPEGGenerator);
  
  	// the hardware level CDT generator allows faster, but less flexible
--- 54,60 ----
  
  	defGrayscaleJPEGGenerator = new JPEGGenerator(EventBase::visRawCameraEGID,visRawCameraSID,visGrayscaleJPEGSID,JPEGGenerator::SRC_AUTO);
  	defGrayscaleJPEGGenerator->DoStart();
! 	defGrayscaleJPEGGenerator->setName("GrayscaleJPEGGenerator");
  	spawned.push_back(defGrayscaleJPEGGenerator);
  
  	// the hardware level CDT generator allows faster, but less flexible
Index: Tekkotsu/project/ms/config/7red.tm