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 = | + | ** 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 | **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. | + | * '''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. | * 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. | ||
Latest revision as of 20:58, 8 May 2012
- 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.
