Project2b: Put the sbRIO robots in motion

• Implement triangulation with rotation in simulation
  • Our derivation assumes that the accoustic source is in the +y half plane of both microphone pairs so only put the sources in that region.
  • Make sure it works for Rotation = 45 on the right microphone pair and Rotation = -45 for the left microphone pair.
  • Test on the 2 robot microphone array
• Modify MoveRobot vi to move the robot to the position on the SharedVariable sent from MicSourceLocator-Robots -> MicroPhonePairs. The easy way to test this is to run SingleRobotControl.vi on the computer so you only need 1 robot.
• Test out your triangulation with the robots in different position and rotations as commanded by MicSourceLocator-Robots.
• Modify MicSourceLocator (PC with Robots).vi to autmoatically move the robots towards the estimate source position. The goal is to position them 0.4m from the source rotated +/- 45 degrees from the x-axis.