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SwARM, triangulating

Hi everyone,

Unlike my partners I managed to find some time during the vacation to finish implementing and debug the radio protocol and real time locating system. The whole system can recover from the reset or the lost of synchronisation from any of the components and seems stable with one robot at least (I can’t test any more than that as I have only 4 decawave modules for now).

The triangulation is noisy as expected but it remains within acceptable limits and should already allow us to do some nice things 🙂

I’ve also written a small app that displays the current location of the robot to really be able to see the precision.

Next I’ll try to improve the robot’s calibration procedure (each decawave module is unique and they all respond after a slightly different time) to make it easier.

Arnaud

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