• Added QueryStatus() to query internal PID algorithm status to determine when PID distance algorithm has finished traveling specified distance in the PIDMotorController class.
• PIDMotorController no longer derives from QueryableComponentBase, but from SerializerComponent now.
• Changed PIDMotorController QueryVelocities() to be manually invoked, instead of invoked at a specified UpdateFrequency.
• Added Motor1Speed and Motor2Speed properties to the PIDMotorController class.
• Updated Velocity and Distance PID params to work w/ latest motors on Traxster and Stinger
• Updated encoder params to match latest encoders on Traxster and Stinger
• Added optional DistDeadband and DeadbandEnabled PIDMotorController properties to work with firmware versions 1.5.2 and higher.
• Added ConstantUpdates property to LineFollowingSensor, so that the LineSensorChanged event constantly occurs (based on UpdateFrequency).  ConstantUpdates defaults to false, in which case the LineSensorChanged event only occurs when the actual value of the sensor changes.

We also launched a new Serializer Firmware version, v1.5.2, which includes the following enhancements:

• Added Deadband for Distance PID.  Also added additional (optional) deadband parameter for 'dpid' command so you can set the deadband.  Deadband is defaulted to 5, and you shouldn't really need to set it.
• Modified mogo and digo commands to set wheels speeds as close to the same time as possible.  Mismatched motors might still show signs of one starting over the other.
• Updated PID velocity and distance parameters for smoother acceleration for the DC Gearhead Motor combo used in our Traxster and Stinger Robot Kits. (vpid -> 10:0:5:10   dpid -> 1:0:0:20:5)

The Serializer .NET Library and Firmware can be downloaded from the Serializer Robot Controller Page under the Docs/HowTo/Documentation tab.   The MSDN style documentation has also been updated to reflect the latest changes in the .NET Library.

Best Regards!

Jason Summerour
President,
Summerour Robotics Corporation
Microsoft MVP
www.roboticsconnection.com