Thomas Branch / Mbed 2 deprecated ICRSEurobot13

ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

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?

UserRevisionLine numberNew 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;