Project2: Triangulation with sbRIO robots

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

• 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