USA
Asked — Edited

Compass Heading Tracking

Skip to comments   Jump to end

I have been messing with this for a while and can't make progress. I want to track forward on a set compass heading. If there is a variation from the heading I want to make a correction turn back toward the heading. I have made the compass to read with a +/- 5 degree tolerance. For setup I am using a deviation of 30 degrees, but will narrow it to 10 degrees once it is working.

$compass_setting = 150


$compass_setting2 = $compass_setting + 30


$compass_setting3 = $compass_setting - 30

:loop

  if ($CompassHeading = $compass_setting)

    Forward()

  endif
  if ($CompassHeading = $compass_setting3)


 Left() 

endif 
  
  
  Goto(:loop)

I have tried a number of variations but no luck.

Any ideas?

Ron


ARC Pro

Upgrade to ARC Pro

Elevate your robot's capabilities to the next level with Synthiam ARC Pro, unlocking a world of possibilities in robot programming.

PRO
Synthiam
#9  

Oh, i should add that since you are using continuous rotation servos for moving... that you can also adjust the speed in which the robot moves.

So you could do something like this...

User-inserted image


SayEZBWait("Which direction shall i face?")

$Speech_Response = (WaitForSpeech(5, "East", "West"))

if ($Speech_Response = "East")

  SayEZBWait(("I am moving" + $Speech_Response))

  $DirectionToFace = 90


elseif ($Speech_Response = "West")

  SayEZBWait(("I am moving" + $Speech_Response))

  $DirectionToFace = 180


else

  SayEZBWait("I didn't hear you")

  # Stop running this script
  Halt()


endif
ControlCommand("MPU9150", Init)

repeat($count, 0, 10, 1)

  ControlCommand("MPU9150", RunOnce)

  if ($CompassHeading < $DirectionToFace)

    SetSpeed(50)
    Right()


  else

    SetSpeed(50)
    Left()


  endif
  sleep(1000)


endrepeat
ClearVariable("$count")

Here's the Blockly workspace: facecompassdirection.ezblockly

#10  

Hi Dj,

I will load it and give it a try. My friend will have another skill added to the list.

I run a bunch of separate codes. One is the Radar avoidance, facial tracking moving the head, tracking moving the eyes, (the camera is mounted under her nose) and compass tracking. The voice is a Cepstral male voice (for now). His name is Antonn. He enjoys having conversations using responses to questions and when he gets lazy he makes requests to Alexa. He also runs light and outlet controls which I built (before the many smart devices became available). It is nice to ask him to make coffee in the morning and letting me know when it is done, or operating lights.

Thanks for the code,

Ron

Login to post a comment