Orientation device

[Gdeaver]

As dtengineering suggested the lights in the ceiling would provide a frame of reference outside the robot. A magnetometer also provides a frame of reference outside the robot. Triangulation with a radio transmitter also provides this. Of the 3 the mag is the least difficult. Our team is looking at using 9 degrees of freedom. A mag, an accelerometer, and a gyro with sensor fusing algorithms. The big problem is the mag and the hard and soft iron distortions. We did some testing in September with our 2011 robot. The 2011 robot is ideally suited for a mag. there is very little ferrous metal or motors up high. Our 2012 robot has no area on it with out magnetic distortions. If we use this we will have to design the robot with it in mind. The latest generation of Gyros has improved allot. I feel that field centric robot control with out operator intervention is now possible. It does take allot of effort.

[Bryce Paputa]

you might be able to do something like an optical mouse (or multiple ones), I wouldn't be sure how though, and it might not work if the field isn't flat. you could even use something like a mechanical mouse, you could just have some omniwheels with encoders, you should be able to figure it out with 4? you might need more and it would probably take a lot of DIO channels, but i think it would be possible.