[Gene F]

Given that A and B are the lengths of the segments of the line between the beacons bisected by a perpendicular line to your robot of length C and the angles from that perpendicular to the beacons are given as T1 and T2.

A + B = 24

TAN = Opposite/Adjacent

T1 and T2 are angles gleaned from finding the beacons.

TAN(T1) = A/C

TAN(T2) =B/C

Therefore:

C*TAN(T1) = A

C*TAN(T2) = B

C*TAN(T1) + C*TAN(T2) = 24

C*( TAN(T1) + TAN(T2)) = 24

C = 24/( TAN(T1) + TAN(T2)) - The distance away from the middle of the field!

A = C*TAN(T1) - The distance from the left side of the field

B = C*TAN(T2) - The distance to the right side of the field.

Be careful this gets a little flakey as you approach the middle of the field.

The compass is required to determine the perpendicular and to determine which side of the field you are on.


I'm a little rusty on my Trig. So correct me if I've made a mistake!