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Commit de57b0d7 authored by Jessica Dreyer's avatar Jessica Dreyer
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Changed README

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...@@ -8,44 +8,44 @@ Jessica Dreyer, Sebastian Böttger ...@@ -8,44 +8,44 @@ Jessica Dreyer, Sebastian Böttger
## Getting started ## Getting started
The main branch contains the following files: The main branch contains the following files:
> localization.py: localization algorithm * localization.py: localization algorithm
> driving.py: detection of section type, calculation of odometry, calculation driven distance in section * driving.py: detection of section type, calculation of odometry, calculation driven distance in section
> grafic.py: graphical output * grafic.py: graphical output
> race_management.py: main program * race_management.py: main program
> Lokalisierung_LEGO (folder), main.py: programming of the robot LEGO EV3 * Lokalisierung_LEGO (folder), main.py: programming of the robot LEGO EV3
## Name ## Name
localization of a vehicle on a race track localization of a vehicle on a race track
## Description ## Description
The following adjustments might be necessary, before the algorithm is executable: The following adjustments might be necessary, before the algorithm is executable:
> change ip-address in main.py * change ip-address in main.py
> entering the route in localization.py (get_set_of_section_*()) * entering the route in localization.py (get_set_of_section_*())
Important notes regarding the robot: Important notes regarding the robot:
The sensors / motors are connected to the following ports of the robot: * The sensors / motors are connected to the following ports of the robot:
> Motor: OUTPUT A & OUTPUT B * Motor: OUTPUT A & OUTPUT B
> ColorSensor: INPUT 4 * ColorSensor: INPUT 4
> GyroSensor: INPUT 1 * GyroSensor: INPUT 1
The following measured values are stored and must be adjusted if necessary (in main.py): * The following measured values are stored and must be adjusted if necessary (in main.py):
> wheel circumference (radumfang) * wheel circumference (radumfang)
> wheel spacing (d) * wheel spacing (d)
Notes on constant values (in race_management.py): * Notes on constant values (in race_management.py):
> CHAR_RECIVING: number of chars in one UDP-message * CHAR_RECIVING: number of chars in one UDP-message
This value should only be changed if the sent string changes. This value should only be changed if the sent string changes.
> THRESHOLD_LEFT, THRESHOLD_RIGHT: value to detect a left or right turn * THRESHOLD_LEFT, THRESHOLD_RIGHT: value to detect a left or right turn
This value can be changed to possibly improve the algorithm. This value can be changed to possibly improve the algorithm.
> BLOCK_SIZE_DA: number of iterations to analyse the section type * BLOCK_SIZE_DA: number of iterations to analyse the section type
This value can be changed to possibly improve the algorithm. This value can be changed to possibly improve the algorithm.
> S = 0: value for a straight part of the track * S = 0: value for a straight part of the track
> R = 1: value for a right turn * R = 1: value for a right turn
> L = 2: value for a left turn * L = 2: value for a left turn
This values should not be changed in order to maintain the algorithm. This values should not be changed in order to maintain the algorithm.
## Authors and acknowledgment ## Authors and acknowledgment
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