Difference between revisions of "Project2b: Put the sbRIO robots in motion"
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− | *Implement triangulation with rotation in simulation | + | * 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. | ** 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 = 90 on the right microphone pair and Rotation = -90 for the left microphone pair. | ** Make sure it works for Rotation = 90 on the right microphone pair and Rotation = -90 for the left microphone pair. | ||
**Test on the 2 robot microphone array | **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. |
− | * | + | * 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. | *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. |
Revision as of 22:52, 17 December 2010
- 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 = 90 on the right microphone pair and Rotation = -90 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.
- 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.