Difference between revisions of "Project2: Triangulation with sbRIO robots"

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* '''Background'''
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* Compute Angle on a Single Robot
 
** '''View''' the [[LabVIEW_for_Robotics|LabVIEW for Robotics]] page for reference information about the sbRIO robots.
 
** '''View''' the [[LabVIEW_for_Robotics|LabVIEW for Robotics]] page for reference information about the sbRIO robots.
 
[[File:MicSourceLocatorProject.JPG|MicSourceLocator Project]]  
 
[[File:MicSourceLocatorProject.JPG|MicSourceLocator Project]]  
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** '''Open''' DMA Buffered Acquisition-2Channels (HOST).vi and use Save As, save to a new name and start editing this.
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** '''Open''' DMA Buffered Acquisition-2Channels (HOST).vi and use Save As, save it to "Compute Angle (Robot).vi" and start editing this.
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* Compute angle of arrival on Robot platform using your ComputeAngle subVI
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** Compute angle of arrival on Robot platform using your FindCCPeak.vi and ComputeAngle.vi
 
* Source Location using N Robots
 
* Source Location using N Robots
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** PC to Robot communication using Shared Variable
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** '''Right-Click''' on Starter Kit sbRIO and set the IP to the IP labeled on your robot.
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***  NI Example Finder -> Toolkits and Modules -> Real-Time -> Network Communication -> RT Network Communication.lvproj
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** '''Open''' Starter Kit sbRIO -> MicSourceLocator (Robot).vi and My Computer-> MicSourceLocator (PC with Robots).vi
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** RT Code to move robot to a new position (x,y,theta)
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** Run these 2 VIs simultaneously and study the block diagrams to make sure you understand how the communication is working
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** LabVIEW code to command robot to new Manual Position using Shared Variable
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** Merge Compute Angle (robot).vi and MicSourceLocator (Robot).vi and view the results on the front panel of MicSourceLocator (PC with Robots).
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** Add a 2nd Robot to Project
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** Add a 2nd robot to your project and run MicSourceLocator (Robot).vi on both robots simultaneously.
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** Compute source location from 2 robots
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** Modify MicSourceLocator (PC with Robots) to compute the source location and plot the web.
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** Expand to N robots
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* Move robots
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** Automated controller algorithm to optimize robot positions
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* Automated controller algorithm to optimize robot positions
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Extra Credit
 
 
*Thin client communication to Robot
 
*Thin client communication to Robot

Revision as of 16:11, 17 June 2010

  • Compute Angle on a Single Robot

MicSourceLocator Project

    • Open DMA Buffered Acquisition-2Channels (HOST).vi and use Save As, save it to "Compute Angle (Robot).vi" and start editing this.
    • Compute angle of arrival on Robot platform using your FindCCPeak.vi and ComputeAngle.vi
  • Source Location using N Robots
    • Right-Click on Starter Kit sbRIO and set the IP to the IP labeled on your robot.
    • Open Starter Kit sbRIO -> MicSourceLocator (Robot).vi and My Computer-> MicSourceLocator (PC with Robots).vi
    • Run these 2 VIs simultaneously and study the block diagrams to make sure you understand how the communication is working
    • Merge Compute Angle (robot).vi and MicSourceLocator (Robot).vi and view the results on the front panel of MicSourceLocator (PC with Robots).
    • Add a 2nd robot to your project and run MicSourceLocator (Robot).vi on both robots simultaneously.
    • Modify MicSourceLocator (PC with Robots) to compute the source location and plot the web.
  • Move robots
  • Automated controller algorithm to optimize robot positions
  • Thin client communication to Robot
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