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doublerobotics / Basic-Control-SDK-iOS

This SDK provides access to basic driving controls from a custom iOS application.
Apache License 2.0
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Travel Data #2

Closed passierschein-a38 closed 9 years ago

passierschein-a38 commented 9 years ago

Hi @all,

I'm currently evaluating the double sdk and sample app. I'm wondering about the travel data. Can you give me a short description about this?

After calling startTravelData, the doubleTravelDataDidUpdate is never called.

best regards, axel

doublerobotics commented 9 years ago

Hi axel, email me (david@doublerobotics.com) your robot serial number and I'll tag it for the beta firmware to support the travel data. Sorry about the confusion... We'll be releasing the firmware publicly soon. -David

On Jan 12, 2015, at 5:43 AM, Axel notifications@github.com wrote:

Hi @all,

I'm currently evaluating the double sdk and sample app. I'm wondering about the travel data. Can you give me a short description about this?

After calling startTravelData, the doubleTravelDataDidUpdate is never called.

best regards, axel

— Reply to this email directly or view it on GitHub.

passierschein-a38 commented 9 years ago

Hi David,

thanks for your response. Can you tell me a word about the 'use case'/feature "travel data" ? I would like to understand what "travel data" means.

doublerobotics commented 9 years ago

The travel data is the distance that each wheel has traveled. The number comes into the delegate method as a float, in inches, of the amount traveled since the previous update. If you want to measure the distance over time, you should constantly add these values to the previous values. Positive numbers are forward and negative numbers are reverse.

These can be useful in research applications, when combined with other sensory data, for doing SLAM and other navigation techniques.

On Mon, Jan 12, 2015 at 6:10 AM, Axel notifications@github.com wrote:

Hi David,

thanks for your response. Can you tell me a word about the 'use case'/feature "travel data" ?

— Reply to this email directly or view it on GitHub https://github.com/doublerobotics/Basic-Control-SDK-iOS/issues/2#issuecomment-69574412 .

passierschein-a38 commented 9 years ago

Thank's for the detailed anwser!

jakobe commented 8 years ago

Hi @doublerobotics and @davidcann ,

I'm trying to use the doubleTravelDataDidUpdate event in my app but I have the same problem as above, that after calling startTravelData, the doubleTravelDataDidUpdate is never called.

Am I doing something wrong or do you need to tag my serialnumber for the beta firmware as you stated in your answer above? I'm using firmware version 13.

Cheers, Jakob

davidcann commented 8 years ago

Yes, please email you serial number to support@doublerobotics.com and we'll get you setup with the special firmware.

On Jan 27, 2016, at 6:06 AM, Jakob Engelbrecht Olesen notifications@github.com wrote:

Hi @doublerobotics and @davidcann ,

I'm trying to use the doubleTravelDataDidUpdate event in my app but I have the same problem as above, that after calling startTravelData, the doubleTravelDataDidUpdate is never called.

Am I doing something wrong or do you need to tag my serialnumber for the beta firmware as you stated in your answer above? I'm using firmware version 13.

Cheers, Jakob

— Reply to this email directly or view it on GitHub.

jakobe commented 8 years ago

Hi David, thanks a lot and thanks for the quick reply! I've emailed support@doublerobotics.com with our serial number.

Cheers, Jakob :)

jishh commented 6 years ago

Hi @doublerobotics and @davidcann ,

Could you please tell me what "xDeltaInches,yDeltaInches,headingDeltaRadians". In the iOS SDK is it possible to calculate angle rotated by robot using them?

davidcann commented 6 years ago

Add up the headingDeltaRadians over time. Each packet contains the difference from the last one. You can then convert the radians to degrees, if you prefer degrees.

jishh commented 6 years ago

"xDeltaInches,yDeltaInches" what are these values?

davidcann commented 6 years ago

xDeltaInches and yDeltaInches combine with headingDeltaRadians to give you a dead reckoning path that you can add up over time. You could mostly calculate this yourself from the leftEncoderDeltaInches and rightEncoderDeltaInches, but the robot base also refines it with some data from the gyro.

Wallace99 commented 6 years ago

Hi @doublerobotics and @davidcann,

Sorry to bring up an old thread again, but I too am working with the travel data part of the SDK. I'm able to get the data on how far the wheels have moved perfectly fine, but headingDeltaRadians doesn't appear to be working as expected. It's simply reporting that the the Double has rotated every packet, despite the double being stationary with its stand down.

This is an example of when I log theDouble.headingDeltaRadians to the console:

2018-05-03 13:39:41.954 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.933791 2018-05-03 13:39:42.058 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.931708 2018-05-03 13:39:42.167 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.929659 2018-05-03 13:39:42.255 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.927584 2018-05-03 13:39:42.372 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.925487 2018-05-03 13:39:42.473 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.923422 2018-05-03 13:39:42.573 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.921337 2018-05-03 13:39:42.623 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.919246 2018-05-03 13:39:42.818 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.917180 2018-05-03 13:39:42.883 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.915108 2018-05-03 13:39:42.983 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.913015 2018-05-03 13:39:43.104 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.910931 2018-05-03 13:39:43.191 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.908841 2018-05-03 13:39:43.281 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.906779 2018-05-03 13:39:43.535 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.904695 2018-05-03 13:39:43.535 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.902610 2018-05-03 13:39:43.604 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.900539 2018-05-03 13:39:43.704 OpenCViOSApp[609:242778] deltaHeadingRadians: 0.898464

Is this the correct usage?