Project2b: Put the sbRIO robots in motion

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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.
    • 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.
  • 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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