Positioning Work. Very Important

I figured out how to track a robot’s orientation regardless of position
or how many turns it has done. This is based on the fact that
orientation is entirely dependent on how far the wheels have turned.
When the distance is equal, the orientation is the same as the start.
when the distance is different, we can observe and measure a the degree
to which the difference has affected orientation by factoring in the
track (distance between wheels, also radius of the curved path). Using
this information, I built some pseudo code that should provide the
ability to estimate position with an unknown accuracy.

4 files changed, 223 insertions, 0 deletions

diff --git a/Nate's Position Testing/Shooter Testing/firmware/STM32F10x.ld b/Nate's Position Testing/Shooter Testing/firmware/STM32F10x.ld
new file mode 100644
index 0000000..e6caa0d
--- /dev/null
+++ b/Nate's Position Testing/Shooter Testing/firmware/STM32F10x.ld
@@ -0,0 +1,100 @@
+/* Memory space definitions */

+MEMORY {

+	RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K

+	FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 384K

+}

+

+/* Higher address of the user mode stack */

+EXTERN ( _estack );

+PROVIDE ( _estack = ORIGIN(RAM) + LENGTH(RAM) );

+

+/* This sends all unreferenced IRQHandlers to reset. */

+PROVIDE ( ISR_SWI = 0 );

+PROVIDE ( ISR_IRQ = 0 );

+PROVIDE ( ISR_Prefetch = 0 );

+PROVIDE ( ISR_Abort = 0 );

+PROVIDE ( ISR_FIQ = 0 );

+

+PROVIDE ( ISR_NMI = 0 );

+PROVIDE ( ISR_HardFault = 0 );

+PROVIDE ( ISR_MemManage = 0 );

+PROVIDE ( ISR_BusFault = 0 );

+PROVIDE ( ISR_UsageFault = 0 );

+

+PROVIDE ( ISR_SVC = 0 );

+PROVIDE ( ISR_DebugMon = 0 );

+PROVIDE ( ISR_PendSV = 0 );

+PROVIDE ( ISR_SysTick = 0 );

+

+PROVIDE ( ISR_WWDG = 0 );

+PROVIDE ( ISR_PVD = 0 );

+PROVIDE ( ISR_TAMPER = 0 );

+PROVIDE ( ISR_RTC = 0 );

+PROVIDE ( ISR_FLASH = 0 );

+PROVIDE ( ISR_RCC = 0 );

+PROVIDE ( ISR_EXTI0 = 0 );

+PROVIDE ( ISR_EXTI1 = 0 );

+PROVIDE ( ISR_EXTI2 = 0 );

+PROVIDE ( ISR_EXTI3 = 0 );

+PROVIDE ( ISR_EXTI4 = 0 );

+PROVIDE ( ISR_DMAChannel1 = 0 );

+PROVIDE ( ISR_DMAChannel2 = 0 );

+PROVIDE ( ISR_DMAChannel3 = 0 );

+PROVIDE ( ISR_DMAChannel4 = 0 );

+PROVIDE ( ISR_DMAChannel5 = 0 );

+PROVIDE ( ISR_DMAChannel6 = 0 );

+PROVIDE ( ISR_DMAChannel7 = 0 );

+PROVIDE ( ISR_DMA1_Channel1 = 0 );

+PROVIDE ( ISR_DMA1_Channel2 = 0 );

+PROVIDE ( ISR_DMA1_Channel3 = 0 );

+PROVIDE ( ISR_DMA1_Channel4 = 0 );

+PROVIDE ( ISR_DMA1_Channel5 = 0 );

+PROVIDE ( ISR_DMA1_Channel6 = 0 );

+PROVIDE ( ISR_DMA1_Channel7 = 0 );

+PROVIDE ( ISR_ADC = 0 );

+PROVIDE ( ISR_ADC1_2 = 0 );

+PROVIDE ( ISR_USB_HP_CAN_TX = 0 );

+PROVIDE ( ISR_USB_HP_CAN1_TX = 0 );

+PROVIDE ( ISR_USB_LP_CAN_RX0 = 0 );

+PROVIDE ( ISR_USB_LP_CAN1_RX0 = 0 );

+PROVIDE ( ISR_CAN_RX1 = 0 );

+PROVIDE ( ISR_CAN1_RX1 = 0 );

+PROVIDE ( ISR_CAN_SCE = 0 );

+PROVIDE ( ISR_CAN1_SCE = 0 );

+PROVIDE ( ISR_EXTI9_5 = 0 );

+PROVIDE ( ISR_TIM1_BRK = 0 );

+PROVIDE ( ISR_TIM1_UP = 0 );

+PROVIDE ( ISR_TIM1_TRG_COM = 0 );

+PROVIDE ( ISR_TIM1_CC = 0 );

+PROVIDE ( ISR_TIM2 = 0 );

+PROVIDE ( ISR_TIM3 = 0 );

+PROVIDE ( ISR_TIM4 = 0 );

+PROVIDE ( ISR_I2C1_EV = 0 );

+PROVIDE ( ISR_I2C1_ER = 0 );

+PROVIDE ( ISR_I2C2_EV = 0 );

+PROVIDE ( ISR_I2C2_ER = 0 );

+PROVIDE ( ISR_SPI1 = 0 );

+PROVIDE ( ISR_SPI2 = 0 );

+PROVIDE ( ISR_USART1 = 0 );

+PROVIDE ( ISR_USART2 = 0 );

+PROVIDE ( ISR_USART3 = 0 );

+PROVIDE ( ISR_EXTI15_10 = 0 );

+PROVIDE ( ISR_RTCAlarm = 0 );

+PROVIDE ( ISR_USBWakeUp = 0 );

+PROVIDE ( ISR_TIM8_BRK = 0 );

+PROVIDE ( ISR_TIM8_UP = 0 );

+PROVIDE ( ISR_TIM8_TRG_COM = 0 );

+PROVIDE ( ISR_TIM8_CC = 0 );

+PROVIDE ( ISR_ADC3 = 0 );

+PROVIDE ( ISR_FSMC = 0 );

+PROVIDE ( ISR_SDIO = 0 );

+PROVIDE ( ISR_TIM5 = 0 );

+PROVIDE ( ISR_SPI3 = 0 );

+PROVIDE ( ISR_UART4 = 0 );

+PROVIDE ( ISR_UART5 = 0 );

+PROVIDE ( ISR_TIM6 = 0 );

+PROVIDE ( ISR_TIM7 = 0 );

+PROVIDE ( ISR_DMA2_Channel1 = 0 );

+PROVIDE ( ISR_DMA2_Channel2 = 0 );

+PROVIDE ( ISR_DMA2_Channel3 = 0 );

+PROVIDE ( ISR_DMA2_Channel4_5 = 0 );

diff --git a/Nate's Position Testing/Shooter Testing/firmware/cortex.ld b/Nate's Position Testing/Shooter Testing/firmware/cortex.ld
new file mode 100644
index 0000000..36d5aa5
--- /dev/null
+++ b/Nate's Position Testing/Shooter Testing/firmware/cortex.ld
@@ -0,0 +1,123 @@
+/* Include STM32F10X linker scripts */

+INCLUDE "STM32F10x.ld"

+

+EXTERN ( _heapbegin );

+

+/* Section definitions for Cortex firmware flashing */

+SECTIONS {

+	.isr_vector : {

+		/* startup code, prevents garbage collection from eating everything */

+		KEEP(*(.isr_vector))

+	. = ALIGN(4);

+	} >FLASH

+	.text : {

+	. = ALIGN(4);

+		*(.text)

+		*(.text.*)

+		/* Preinit array of functions */

+		__preinit_array_start = .;

+		KEEP (*(.preinit_array))

+		__preinit_array_end = .;

+		. = ALIGN(4);

+		/* Init array of functions */

+		KEEP(*(.init))

+		. = ALIGN(4);

+		__init_array_start = .;

+		KEEP (*(SORT(.init_array.*)))

+		KEEP (*(.init_array))

+		__init_array_end = .;

+		. = ALIGN(4);

+		/* C++ constructors */

+		KEEP (*crtbegin.o(.ctors))

+		KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))

+		KEEP (*(SORT(.ctors.*)))

+		KEEP (*crtend.o(.ctors))

+		. = ALIGN(4);

+		/* Finalizer array of functions */

+		KEEP(*(.fini))

+		. = ALIGN(4);

+		__fini_array_start = .;

+		KEEP (*(.fini_array))

+		KEEP (*(SORT(.fini_array.*)))

+		__fini_array_end = .;

+		. = ALIGN(4);

+		/* C++ destructors */

+		KEEP (*crtbegin.o(.dtors))

+		KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))

+		KEEP (*(SORT(.dtors.*)))

+		KEEP (*crtend.o(.dtors))

+		_etext = .;

+		_srdata = .;

+	. = ALIGN(4);

+		*(.rodata)

+		*(.rodata*)

+		*(.glue_7)

+		*(.glue_7t)

+	. = ALIGN(4);

+		_erdata = .;

+		_sidata = .;

+	} >FLASH

+	/* The program executes knowing that the data is in the RAM, but the loader puts the

+	 * initial values in the FLASH (inidata). The startup copies the initial values over */

+	.data : AT ( _sidata ) {

+	. = ALIGN(4);

+		_sdata = .;

+		*(.data)

+		*(.data.*)

+		*(.RAMtext)

+	. = ALIGN(4);

+   		_edata = .;

+	} >RAM

+	/* Uninitialized data (zero-fill) section */

+	.bss : {

+	. = ALIGN(4);

+		_sbss = .;

+		*(.bss)

+		*(COMMON)

+	. = ALIGN(4);

+		_ebss = .;

+	. = ALIGN(8);

+		_heapbegin = .;

+	} >RAM

+

+	/DISCARD/ : {

+		libc.a ( * )

+		libg.a ( * )

+		libm.a ( * )

+		libgcc.a ( * )

+		libstdc++.a ( * )

+		libsupc++.a ( * )

+	}

+	/* ARM exception unwinding, mandated by ARM EABI C++ standard (with -fno-exceptions?) */

+	.ARM.exidx 0 : { *(.ARM.exidx*) }

+	/* Stabs debugging sections */

+	.stab 0 : { *(.stab) }

+	.stabstr 0 : { *(.stabstr) }

+	.stab.excl 0 : { *(.stab.excl) }

+	.stab.exclstr 0 : { *(.stab.exclstr) }

+	.stab.index	0 : { *(.stab.index) }

+	.stab.indexstr 0 : { *(.stab.indexstr) }

+	.comment 0 : { *(.comment) }

+	/* DWARF 1 */

+	.debug 0 : { *(.debug) }

+	.line 0 : { *(.line) }

+	/* GNU DWARF 1 extensions */

+	.debug_srcinfo 0 : { *(.debug_srcinfo) }

+	.debug_sfnames 0 : { *(.debug_sfnames) }

+	/* DWARF 1.1 and DWARF 2 */

+	.debug_aranges 0 : { *(.debug_aranges) }

+	.debug_pubnames 0 : { *(.debug_pubnames) }

+	/* DWARF 2 */

+	.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }

+	.debug_abbrev 0 : { *(.debug_abbrev) }

+	.debug_line 0 : { *(.debug_line) }

+	.debug_frame 0 : { *(.debug_frame) }

+	.debug_str 0 : { *(.debug_str) }

+	.debug_loc 0 : { *(.debug_loc) }

+	.debug_macinfo 0 : { *(.debug_macinfo) }

+	/* SGI/MIPS DWARF 2 extensions */

+	.debug_weaknames 0 : { *(.debug_weaknames) }

+	.debug_funcnames 0 : { *(.debug_funcnames) }

+	.debug_typenames 0 : { *(.debug_typenames) }

+	.debug_varnames 0 : { *(.debug_varnames) }

+}

diff --git a/Nate's Position Testing/Shooter Testing/firmware/libccos.a b/Nate's Position Testing/Shooter Testing/firmware/libccos.a
new file mode 100644
index 0000000..469b330
--- /dev/null
+++ b/Nate's Position Testing/Shooter Testing/firmware/libccos.a
diff --git a/Nate's Position Testing/Shooter Testing/firmware/uniflash.jar b/Nate's Position Testing/Shooter Testing/firmware/uniflash.jar
new file mode 100644
index 0000000..a922ae9
--- /dev/null
+++ b/Nate's Position Testing/Shooter Testing/firmware/uniflash.jar