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, 84 insertions, 0 deletions

diff --git a/Nate's Position Testing/Shooter Testing/src/init.c b/Nate's Position Testing/Shooter Testing/src/init.c
new file mode 100644
index 0000000..fd9eeb4
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+++ b/Nate's Position Testing/Shooter Testing/src/init.c
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+/** @file init.c

+ * @brief File for initialization code

+ *

+ * This file should contain the user initialize() 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"

+Encoder encoder1,encoder2;

+/*

+ * Runs pre-initialization code. This function will be started in kernel mode one time while the

+ * VEX Cortex is starting up. As the scheduler is still paused, most API functions will fail.

+ *

+ * The purpose of this function is solely to set the default pin modes (pinMode()) and port

+ * states (digitalWrite()) of limit switches, push buttons, and solenoids. It can also safely

+ * configure a UART port (usartOpen()) but cannot set up an LCD (lcdInit()).

+ */

+void initializeIO() {

+

+

+	pinMode(1,INPUT);

+	pinMode(2,INPUT);

+	pinMode(3,INPUT);

+	pinMode(4,INPUT);

+	pinMode(5,INPUT);

+	pinMode(6,INPUT);

+	pinMode(7,INPUT);

+	pinMode(8,INPUT);

+

+

+

+

+//	Setup sensors.

+

+

+

+

+}/*

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

+ * priority and stack size once when the robot is starting up. It is possible that the VEXnet

+ * communication link may not be fully established at this time, so reading from the VEX

+ * Joystick may fail.

+ *

+ * This function should initialize most sensors (gyro, encoders, ultrasonics), LCDs, global

+ * variables, and IMEs.

+ *

+ * This function must exit relatively promptly, or the operatorControl() and autonomous() tasks

+ * will not start. An autonomous mode selection menu like the pre_auton() in other environments

+ * can be implemented in this task if desired.

+ */

+void initialize() {

+	lcdInit(uart2);

+	lcdClear(uart2);

+	lcdSetBacklight(uart2,1);

+	encoder1 = encoderInit(3,4,true);

+	encoder2 = encoderInit(5,6,true);

+}