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ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
globals.h
- Committer:
- madcowswe
- Date:
- 2013-04-07
- Revision:
- 19:4b993a9a156e
- Parent:
- 17:6263e90bf3ba
- Child:
- 20:70d651156779
File content as of revision 19:4b993a9a156e:
//Solving for sonar bias is done by entering the following into wolfram alpha //(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 //where a, b, c are the measured distances, and f is the bias //const float sonartimebias = 0; // TODO: measure and stick in the coprocessor code struct pos { float x; float y; }; extern pos beaconpos[3]; const float PI = 3.14159265359;