RobotAndSensorDefinition.asv

% Constants defining the robot and sensor setup
% All lengths are in mm.
% You may change subSamplingFactor to 1 for an easier task in estimating
% the measurement noise, but it should be reset to 4 when you start tuning
% the Kalman filter.

% Robot characteristics

rwheel           = 21.5 ;      % Wheel radius
trackGauge       = 112  ;      % Distance between the fixed wheels
actualEncoderRes = 360  ;      % In dots per wheel rotation

% To dumb down the robot's odometry, we artificially lower the
% encoder resolution by a certain factor.
% Also, we use a lower sampling frequency

dumbFactor        = 8                           ;
encoderRes        = actualEncoderRes/dumbFactor ;

maxSamplingFrequency = 20 ;
subSamplingFactor    =  4 ;
samplingFrequency    = maxSamplingFrequency/subSamplingFactor ;
samplingPeriod       = 1/samplingFrequency ;

% The sensor is supposed to be orthogonal to axis Xm of the robot.

sensorRes        = 10   ;      % Distance between to Reed sensors
nbReedSensors    =  8   ;      % Nb of Reed sensors
sensorOrient     = +1   ;      % +1 if sensor + axis is Ym, -1 otherwise
sensorOffset     =  4.5 ;      % Number of the Reed sensor above Ym.
sensorPosAlongXm = 80   ;      % Position of linear sensor along Xm
magnetDetected   =  0   ;      % Bit value when a magnet is detected

% Array of magnets in the ground   

xSpacing = 55 ;
ySpacing = 55 ;


% ---------------------------------------------------------------
% The following are calculated from previous data. Do not modify.
% ---------------------------------------------------------------

dots2rad = (2*pi)/encoderRes ;

jointToCartesian = [ rwheel/2           rwheel/2          ;
                     rwheel/trackGauge -rwheel/trackGauge ] ;
                
cartesianToJoint = inv(jointToCartesian) ;