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Doing some maths for last time of my life

Hi everyopne,

I have done my last math exercise for last time of my studies (I hope) :
first I passed MDI210 (with 10/20 but it’s something), meaning I don’t need maths UE anymore and…

it's something

it’s something

Then I proposed maths formulas to resolve robots positions with only 3 beacons positions and relative distance between robots and beacons :

let’s assume three beacons, representing an orthogonal reference : P1 : origin, P2 : x axis, P3 : y axis
P4 robot position : what we are searching for. Lets assume Xn and Yn the coordinates of Pn.
Rn : the distance between Pn and P4 : Pn radio radius, position possibilities of the detected robot

X4 = ( R1^2 – R2^2 + X2^2 ) / 2 * X2
Y4 = ( R1^2 – R3^2 + X3^2 + Y3^2 ) / (2 * Y3 – (X3 / Y3) * X4 )

with robot on P4 with coordinates (X4, Y4)

What do you think about my incredible maths ? 😉

I also progressed on the IMU part, I understand the interest of using Stream in ChibiOS for debug messages because it is an abstract layer and I can used it on serial connection, or serial over usb of even with socket !
I also founded some MPU drivers on github that I will use / port on Chibios.

That’s all, good night 🙂

SwARM ing in the ocean of components

Hi everyone,

We are exploring several solutions to locate the robots on the dance floor :

  • camera filming and real time object tracking with openCV
  • relative location with 3 modules at 3 corners of the dance floor : each robot would have a Decawave chip
  • the two solutions combined

Of course, if the solution is expensive it could limit our number of robots.

We discussed about communication between the robots and the main server, we found chips regrouping radio and location solutions and we almost decided to use a nRF24L01+ from Nordic mainly because of the costs.
About the MCU we thought about taking the STM32F030K6T6TR

We also discuss with Sam and Alexis about all our first choices for the battery, the motors… we are moving forward 🙂 but we still have work, we want to maintain the cost low to produce as many robots as we can.

That’s all for this week. We hope to finish this part before the end of the week.
Good Night

Perceval