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.

1 files changed, 52 insertions, 0 deletions

diff --git a/Nate's Position Testing/Shooter Testing/src/auto.c b/Nate's Position Testing/Shooter Testing/src/auto.c
new file mode 100644
index 0000000..9df57af
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+++ b/Nate's Position Testing/Shooter Testing/src/auto.c
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+/** @file auto.c

+ * @brief File for autonomous code

+ *

+ * This file should contain the user autonomous() function and any functions related to it.

+ *

+ * Copyright (c) 2011-2014, Purdue University ACM SIG BOTS.

+ * All rights reserved.

+ *

+ * Redistribution and use in source and binary forms, with or without

+ * modification, are permitted provided that the following conditions are met:

+ *     * Redistributions of source code must retain the above copyright

+ *       notice, this list of conditions and the following disclaimer.

+ *     * Redistributions in binary form must reproduce the above copyright

+ *       notice, this list of conditions and the following disclaimer in the

+ *       documentation and/or other materials provided with the distribution.

+ *     * Neither the name of Purdue University ACM SIG BOTS nor the

+ *       names of its contributors may be used to endorse or promote products

+ *       derived from this software without specific prior written permission.

+ *

+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND

+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+ * DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY

+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+ *

+ * Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be

+ * obtained from http://sourceforge.net/projects/freertos/files/ or on request.

+ */

+

+#include "main.h"

+

+/*

+ * Runs the user autonomous code. This function will be started in its own task with the default

+ * priority and stack size whenever the robot is enabled via the Field Management System or the

+ * VEX Competition Switch in the autonomous mode. If the robot is disabled or communications is

+ * lost, the autonomous task will be stopped by the kernel. Re-enabling the robot will restart

+ * the task, not re-start it from where it left off.

+ *

+ * Code running in the autonomous task cannot access information from the VEX Joystick. However,

+ * the autonomous function can be invoked from another task if a VEX Competition Switch is not

+ * available, and it can access joystick information if called in this way.

+ *

+ * The autonomous task may exit, unlike operatorControl() which should never exit. If it does

+ * so, the robot will await a switch to another mode or disable/enable cycle.

+ */

+void autonomous() {

+}