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. Manually control the position of the robots from MicSourceLocator (PC with Robots).vi in (x,y,rotation) and verify that the triangulation is working.
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* 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.
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