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Originally Posted by Dave Flowerday
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.
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Please don't take this the wrong way. Sub 1" accuracy? I retract my statement then. Somewhere i heard like +- at least 6". You should take it as a complement that your team was the first to do something like this, and that people think its soo cool that they want to do something like it. Actaully i had a similar idea last year, independently inspired by:
http://www.seattlerobotics.org/encod...ing_a_pid.html , we just didn't have the time or resources to make it happen.
If we are duplicating your design, i promise, this is not intentional. I am the one responsible for the design of our system and if it is turning out like yours then thats probably because we followed similar descision paths and came to similar conlusion about how to effectively implement such a system.