Quote:
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Originally Posted by KenWittlief
Scaling the numbers in your SW to actual units (g's, volts, degrees...) is only necessary if a human needs to look at those numbers.
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And even if someone
does need to look at the numbers, the scaling can be done as part of the input and/or display of the values. The robot can still do all the real work using a convenient internal representation for everything else.
For example, last year we used nifty "follower" wheels to track our robot's position and heading during autonomous mode. The direction values were a minimally-processed version of the raw encoder counts, which got dubbed "RALPHS" for
Robot
alpha (angle). There was a straightforward conversion between RALPHS and degrees (or radians), but it was only used when specifying turns in the autonomous scripting.
There was a corresponding "RITA" unit for distance, intended to rhyme (sort of) with "meter", but measures of linear travel usually ended up just being called encoder counts.