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May 10th, 2009, 09:16 PM  #1 
Newbie Joined: Feb 2009 Posts: 5 Thanks: 0  Question about calculating xy values...
Hey everyone, Please see the attached image! Basically, I have a robot car that drives in a square from 1) to 2) to 3) to 4) and then back to 1). On its first iteration, each side of the "square" is 12 inches. On the second iteration, each side is 24 inches, and so on and so on. The robot has a sweeping sensor that sweeps from the right to the left, 180 degrees (with the right being 0, the left being 180). The sensor is able to detect if there is an object in front of it, and how far it is away. In my picture, this distance is represented as 'a'. On its first sweep at 1. (this is before it drives anywhere), I have the robot successfully mapping the object using : Code: x = (a * cos[angle]) y = (a * sin[angle]) I have tried adding 90 degrees to the angles in the rest of the states, but that doesn't work either. I have also tried adding the robot's current position (x and y) to the above formula, and that doesn't seem to provide correct results either. My question is, how should I change my x and y calculations to be correct in states 2, 3, and 4? Please help, thanks! 
May 11th, 2009, 06:23 AM  #2 
Global Moderator Joined: Dec 2006 Posts: 20,476 Thanks: 2039 
Use a separate formula for each direction of the robot. Let (p, q) denote the robot's current position, and ? denote the angle. Note that the object isn't necessarily "in range"; what follows applies when it is. If the robot is on its way from position 1 to position 2, you will have p = 0 and the object's position will be given by (x, y) = (a*cos(?), q + a*sin(?)). If the robot is on its way from position 4 to position 1, you will have q = 0 and the object's position will be given by (x, y) = (p  a*sin(?), a*cos(?)). Can you now find the remaining formulas? 
May 11th, 2009, 08:06 AM  #3 
Newbie Joined: Feb 2009 Posts: 5 Thanks: 0  Re: Question about calculating xy values...
Thanks for your help, I really appreciate it! For the remaining state (3), I am thinking the following: Code: x = (a * cos[(servo_angle)]); y = (a * sin[(servo_angle)]); 
May 11th, 2009, 02:25 PM  #4 
Global Moderator Joined: Dec 2006 Posts: 20,476 Thanks: 2039 
Incorrect  you seem to be just guessing, rather than working it out. If you try to give your reasoning, you are likely to do better.


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