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Originally Posted by Rickertsen2
Our team is doing an encoder based dead reckoning system somewhat similar to what wildstang did last year, only it is expected to be much more precise. We have a seperate PIC18F252 dedicated to nothing but counting encoder pulses and computing the trig transforms necessary to figure out where we are. We have figured out a rather clever way of doing trig functions extremely fast, but don't expect any leaks on that. The IFI processor will take the position data from the secondary processor, and run a rather complex control algorythm to make the robot follow preprogrammed paths.
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We'll be interested to hear how you've managed to make this setup more accurate than ours, as you seem to be duplicating it directly (your description of your setup matches ours exactly, with the exception that we used a Motorola processor instead of a PIC). Our custom circuit was able to compute our position on the field to within less than 1 inch last year, however the accuracy of the data passed to the robot controller was intentionally reduced to a 2 inch granularity, since that was more than enough accuracy for what we needed to do.
BTW, we were not computing our trig in the conventional way. We employed many optimizations on these calculations that I would consider standard for this situation, and the result was that converting our heading and distance to an (x,y) coordinate took only a few clock cycles.