This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
globals.h@19:4b993a9a156e, 2013-04-07 (annotated)
- Committer:
- madcowswe
- Date:
- Sun Apr 07 19:26:07 2013 +0000
- Revision:
- 19:4b993a9a156e
- Parent:
- 17:6263e90bf3ba
- Child:
- 20:70d651156779
Kalman init almost ready for testing
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
madcowswe | 16:52250d8d8fce | 1 | |
madcowswe | 16:52250d8d8fce | 2 | |
madcowswe | 16:52250d8d8fce | 3 | //Solving for sonar bias is done by entering the following into wolfram alpha |
madcowswe | 16:52250d8d8fce | 4 | //(a-f)^2 = x^2 + y^2; (b-f)^2 = (x-3)^2 + y^2; (c-f)^2 = (x-1.5)^2+(y-2)^2: solve for x,y,f |
madcowswe | 16:52250d8d8fce | 5 | //where a, b, c are the measured distances, and f is the bias |
madcowswe | 16:52250d8d8fce | 6 | |
madcowswe | 19:4b993a9a156e | 7 | //const float sonartimebias = 0; // TODO: measure and stick in the coprocessor code |
madcowswe | 17:6263e90bf3ba | 8 | |
madcowswe | 17:6263e90bf3ba | 9 | struct pos { |
madcowswe | 17:6263e90bf3ba | 10 | float x; |
madcowswe | 17:6263e90bf3ba | 11 | float y; |
madcowswe | 17:6263e90bf3ba | 12 | }; |
madcowswe | 17:6263e90bf3ba | 13 | |
madcowswe | 19:4b993a9a156e | 14 | extern pos beaconpos[3]; |
madcowswe | 19:4b993a9a156e | 15 | |
madcowswe | 19:4b993a9a156e | 16 | const float PI = 3.14159265359; |