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thotro / arduino-dw1000

A library that offers functionality to use Decawave's DW1000 chips/modules with Arduino.
Apache License 2.0
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DWM1000 robotics #304

Open FXUDarkNova opened 5 years ago

FXUDarkNova commented 5 years ago

I am looking to use 3 anchors and 1 tag to make a robot follow me I have got the 3 anchors setup and two sending the information to one main anchor. I am know stuck on where to go from here using the data I am collecting could someone point me in the right direction?

nxdefiant commented 5 years ago

I made my robot follow a tag using two anchors. Maybe that helps?

FXUDarkNova commented 5 years ago

Thank you I shall take a look would you recommend only using two anchors instead of 3?

nxdefiant commented 5 years ago

I guess the math is a bit simpler when using only two anchors, so I would say yes. You can always add the third anchor later. Be aware that using only two anchors you get two solutions for the equation. One in front of the robot, one behind.

FXUDarkNova commented 5 years ago

Slightly confused looking at your code and the diagram is using two anchors not used to determine left and right? Not front and back?

rbrtwtrs commented 5 years ago

It is the intersection of two spheres of range so two possible solutions. With 3 the ambiguity is resolved.

On Tue, Sep 3, 2019, 10:08 AM FXUDarkNova notifications@github.com wrote:

Slightly confused looking at your code and the diagram is using two anchors not used to determine left and right? Not front and back?

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nxdefiant commented 5 years ago

Indeed, I have the two assumptions that the tracking starts in front of the robot and that the robots does everything successfully for the tracked object to stay in front.

FXUDarkNova commented 5 years ago

Ok makes sense just one question when you do t = dist_right2 - a_r2 is that working out turn?

nxdefiant commented 5 years ago

Sorry, I did not understood your question (not a native speaker here)

FXUDarkNova commented 5 years ago

It’s ok iv worked that bit out i am confused as x cords seems to be working as Y cords very confusing

nxdefiant commented 5 years ago

Yeah, for some reason I decided to use two different coordinate systems. This is why it is turned later with x, y = (y, -x)

ROS has "x" as forward and "y" as left axis while I use the "y" as forward and "x" as right axis.

FXUDarkNova commented 5 years ago

I have that bit in my I’m doing it in c language and all I get is x y having same values just y is negative

nxdefiant commented 5 years ago

I recommend to visualize the values, it helps a lot. I have that "VISUALIZE" in my script for that.

FXUDarkNova commented 5 years ago

Ok thank you I will give it ago

nilesh999 commented 1 year ago

Hello, I have been working dwm1000 module. I would like to know about tag 1 and anchor3. I just want to get collection of positions and distance between tag and anchors. I have make condition with distance along with heading to get navigation of motor. For kind information I want know motor movement as per distance and position of anchors. I am looking dwm1000 source code for Robot. Could you please share source code.

nilesh999 commented 1 year ago

I am working with Arduino and dwm1000 for tag and anchors