Subject:
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Trig and vectors
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 8 Jan 1999 20:23:46 GMT
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Original-From:
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Simen Svale Skogsrud <simen@mop.&stopspammers&no>
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Viewed:
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1776 times
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I want my little explorer bot to be able to make "intelligent" judgements
of how to maneuver itself out of areas when it is stuck in a corner or
another narrow space. To accomplish this I want it to have a modest
capability to remember obstructions it encountered nearby - to have a small
map of recent obstructions so to say.
To accomplish this I am trying to implement simple trig and vector
calculations in NQC. Using a table I obtain sin and cos values to calculate
the directional vector of the bot, and using this I aproximate the relative
position in a 2D coordinate system. I intend to store obstuctions as
coordinates in an array, and the bot is to take these into account
constantly when setting out a new direction for its travel.
I use a "angle system" where there is 64 units in a circle, this seems to
be accurate enough. I keep track of the heading of the bot in much higher
resolution and convert back to the 64 degree system when need be. I use
fractioned integers for the values so that 100 == 1.0, 150 == 1.5 etc. I
don't see the 16 bit limit on integers as a big problem as I will only be
able to store and keep accurate information that will be within an area
described by numbers in the -32000 -> 32000 range.
I need ideas for efficient ways to implement tangent and inverse tangent in
NQC and I need ideas for how I can treat a number of variable positions
(say 16) as an array of coordinates. I know this will probably be much
easier to implement in C under LegOS, but I do not feel ready for that
quite now.
btw. : Would it be possible to use floating-point math using gcc and legos?
Simen
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Simen Svale Skogsrud; Producer, Medieoperatørene as
phone: +47 22 99 27 35; mobile: +47 90 77 90 24;
fax: 22 20 64 21; Corp. web: http://www.mop.no
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Filmsuksess på nettet:
http://www.filmredaksjonen.no
--
Did you check the web site first?: http://www.crynwr.com/lego-robotics
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Message has 1 Reply:
 | | Re: Trig and vectors
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| (...) I haven't found a way of getting the RCX to perform any sort of indirect addressing. As a result, there's no array support in NQC. Dave (27 years ago, 9-Jan-99, to lugnet.robotics)
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