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

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*'''Download''' [[media:RoboticSensing.zip|RoboticSensing.zip]] and extract to your Home Directory if you haven't already. Run RoboticSensing\MicSourceLocator.lvproj.
 
*'''Download''' [[media:RoboticSensing.zip|RoboticSensing.zip]] and extract to your Home Directory if you haven't already. Run RoboticSensing\MicSourceLocator.lvproj.
 
[[File:MicSourceLocatorProject.JPG|MicSourceLocator Project]]
 
[[File:MicSourceLocatorProject.JPG|MicSourceLocator Project]]
 +
* Run Sample Code:
 +
** Get 2 sbRIO robots and place them near the blackboard for good wireless reception. Right click on Robot0 and select Properties and enter the IP labeled on the robot. Repeat for Robot1.
 +
** Open My Computer -> MicSourceLocator-Robots.vi. Run this VI.
 +
** Open Robot0 -> RobotMicSourceLocator.vi. Run this VI.
 +
** Open Robot1 -> RobotMicSourceLocator.vi - change the Robot0? Control to false since this is Robot1. Then run this VI.
 +
** Once all 3 VIs are running, you should see the MicSourcLocator-Robots -> MotorMoving indicator turn off and the b value of MicSourceLocator-Robots -> PairSolutions count up. The signals for both microphones will be displayed on the graphs on both instances of RobotMicSourceLocator.vi
 
*'''Compute Angle on a Single Robot'''
 
*'''Compute Angle on a Single Robot'''
−
**'''View''' the [[LabVIEW_for_Robotics|LabVIEW for Robotics]] page for reference information about the sbRIO robots.
+
**'''Modify''' RobotMicSourceLocator to '''Compute''' the angle of arrival on the Robot platform using your FindCCPeak.vi and ComputeAngle.vi. It should transmit the angle to MicSourceLocaotr-Robots running on the PC using the Shared Variables.
−
**'''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
 
−
**Click the Run button on Compute Angle (Robot).vi. This will download your code to the robot specified in the project.
 
 
*'''Source Location using 2 Robots'''
 
*'''Source Location using 2 Robots'''
−
**'''Right-Click''' on Starter Kit sbRIO and set the IP to the IP labeled on your robot.
+
**'''Modify''' MicSourceLocator-Robots.vi to compute the source location and plot the web using the angles computed on the robots
−
**'''Open''' Starter Kit sbRIO -> MicSourceLocator (Robot).vi and My Computer-> MicSourceLocator (PC with Robots).vi
 
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**'''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'''
 
*'''Move robots'''
 
*'''Automated controller algorithm to optimize robot positions'''
 
*'''Automated controller algorithm to optimize robot positions'''
 
*'''Thin client communication to Robot'''
 
*'''Thin client communication to Robot'''

Revision as of 22:46, 17 December 2010

  • Download RoboticSensing.zip and extract to your Home Directory if you haven't already. Run RoboticSensing\MicSourceLocator.lvproj.

MicSourceLocator Project

  • Run Sample Code:
    • Get 2 sbRIO robots and place them near the blackboard for good wireless reception. Right click on Robot0 and select Properties and enter the IP labeled on the robot. Repeat for Robot1.
    • Open My Computer -> MicSourceLocator-Robots.vi. Run this VI.
    • Open Robot0 -> RobotMicSourceLocator.vi. Run this VI.
    • Open Robot1 -> RobotMicSourceLocator.vi - change the Robot0? Control to false since this is Robot1. Then run this VI.
    • Once all 3 VIs are running, you should see the MicSourcLocator-Robots -> MotorMoving indicator turn off and the b value of MicSourceLocator-Robots -> PairSolutions count up. The signals for both microphones will be displayed on the graphs on both instances of RobotMicSourceLocator.vi
  • Compute Angle on a Single Robot
    • Modify RobotMicSourceLocator to Compute the angle of arrival on the Robot platform using your FindCCPeak.vi and ComputeAngle.vi. It should transmit the angle to MicSourceLocaotr-Robots running on the PC using the Shared Variables.
  • Source Location using 2 Robots
    • Modify MicSourceLocator-Robots.vi to compute the source location and plot the web using the angles computed on the robots
  • Move robots
  • Automated controller algorithm to optimize robot positions
  • Thin client communication to Robot
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