Difference between revisions of "Project2b: Put the sbRIO robots in motion"

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*Implement triangulation with rotation in simulation
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* 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.
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** Make sure it works for Rotation = 90 on the right microphone pair and Rotation = -90 for the left microphone pair.
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** 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
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*Create a subVI on the sbRIO robot that takes in x,y,rotation and moves that robot to that position. Use MoveWheelsTop.vi as an example. Get motion and triangulation working in the x direction first.
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* '''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.
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*Develop communication between PC and Robots to send motor movement commands.
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* Test out your triangulation with the robots in different position and rotations as commanded by MicSourceLocator-Robots.
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*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.
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