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This document contains the entire code for team #115's Global Positioning System, which uses four IR sensors mounted on servos in order to determine the robot's exact position and orientation, along with an error function which gives an estimate of the confidence in the given values. The walkthro...
This document contains the entire code for team #115's Global Positioning System, which uses four IR sensors mounted on servos in order to determine the robot's exact position and orientation, along with an error function which gives an estimate of the confidence in the given values. The walkthrough explains clearly every step of the code and all the math used in order to accomplish the task. The code is extremely well commented and includes all math functions used in the program.
Any questions should be directed to Shrenik Shah, at shrenik86@comcast.net.
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Code and Walkthrough for Global Positioning System using IR Sensors
1084731752ircodewalkthrough.pdf
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uploaded: 16-05-2004 14:22
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Discussion
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20-05-2004 20:54
Max Lobovsky
Re: White Paper Discuss: Code and Walkthrough for Global Positioning System using IR Sensors
Just a couple of questions and comments:
1. Satellite GPS does not use the angle the signal is traveling at, it uses the distance from the satellite to the device
2. I believe that you do not need to use your "firstrun" variable and loop to initialize the static variables, i believe you can just define statics when you declare them
static int myVar = 5;
3. Have you run this code on a FRC? It seems like it, along with the neccesary parts of the default code, could start to cause "default_routine" to start missing cycles as some people have mentioned has happened, if this code is running in every cycle in "default_rountine".
I like the use of a 4th sensor for error correction, pretty cool. If you have used this system, how did it work, if not, post about it when you do.
20-05-2004 21:22
Astronouth7303
Re: White Paper Discuss: Code and Walkthrough for Global Positioning System using IR Sensors
Very cool. My only concern is speed with floats. As maxlobovsky said, it can cause it to miss cycles. My thought is to do this either in parts (state machine), or do getdata and putdata in the middle of it.
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