Swarm Robot Project E-puck Code - Revision history

Ryan Cook: Swarm Project E-puck Code moved to Swarm Robot Project E-puck Code: To keep with the consistency of naming pages in the Swarm Category

2010-07-13T15:41:26Z

Swarm Project E-puck Code moved to Swarm Robot Project E-puck Code: To keep with the consistency of naming pages in the Swarm Category

2009-08-18T19:50:51Z

2009-08-18T19:37:27Z

2009-01-21T17:52:06Z

Project Files

2009-01-21T17:51:17Z

2009-01-21T17:51:08Z

Project Files

2009-01-21T17:50:57Z

2009-01-21T17:50:38Z

2009-01-21T05:50:53Z

Consensus Estimator Functions

2009-01-21T05:44:57Z

void resetMsgRxFlags(void)

← Older revision		Revision as of 19:50, 18 August 2009
Line 199:		Line 199:

	[[Category:SwarmRobotProject]]		[[Category:SwarmRobotProject]]
			[[Category:e-puck]]

@@ Line 197: / Line 197: @@
 ===void calcNewEstimate(void)===
 Calculates a new estimate and resets the x_sum and w_sum running sums.
+[[Category:SwarmRobotProject]]

@@ Line 5: / Line 5: @@
 =Project Files=
-Project Files: [[Media:swarm_epucks_code.zip]]
+Project Files: [[Image:swarm_epucks_code.zip]]
 =Description of the files:=

@@ Line 1: / Line 1: @@
 __TOC__
 This page documents the e-puck code for the Swarm Robotics project. The code on the e-puck was written in C and compiled using Microchip's MPLAB C Compiler for dsPIC DSCs (student version).
+Go back to [[Swarm_Robot_Project_Documentation|Swarm_Robot_Project_Documentation]]
 =Project Files=

@@ Line 5: / Line 5: @@
 Project Files: [[Media:swarm_epucks_code.zip]]
-Go back to [[Swarm_Robot_Project_Documentation|Swarm_Robot_Project_Documentation]]
 =Description of the files:=
 *main.c: This contains the entry point of the code and contains the initialization routines, main loop, and interrupt service routines.

← Older revision	Revision as of 15:41, 13 July 2010
(No difference)

@@ Line 187: / Line 187: @@
 ==Consensus Estimator Functions==
-void addConsensusData(void)
+===void addConsensusData(void)===
+Adds new data from incoming packet to runnning sum x_sum.
+===void calcNewEstimate(void)===
-//Calculate a new estimate
+Calculates a new estimate and resets the x_sum and w_sum running sums.
-void calcNewEstimate(void){
-	int j;
-    e_get_configuration(&robotX, &robotY, &robotTheta);
- 	u_i[0]=robotX;
-    u_i[1]=robotY;
-	u_i[2]=u_i[0]*u_i[0];
-	u_i[3]=u_i[0]*u_i[1];
-	u_i[4]=u_i[1]*u_i[1];
-	for (j=0; j<NUM_DATA_SETS; j++){
-		x_i[j] = x_i[j] + GAMMA*(u_i[j]-x_i[j]) - (KP/num_agents)*x_sum[j] + (KI/num_agents)*w_sum[j];
-		w_i[j] = w_i[j] - (KI/num_agents)*x_sum[j];
-		x_sum[j]=0;
-		w_sum[j]=0;
-	}
-	num_agents = 0;
-}
-#endif

@@ Line 184: / Line 184: @@
 ===void resetMsgRxFlags(void)===
 Reset all message flags to 0.
-//adds new data to runnning sum x_sum.
-//The data in the packet is structured: x_1 w_1 x_2 w_2 x_3 w_3 etc.
 ==Consensus Estimator Functions==