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[DPRG] Clay's FireFigthing robot status

Subject: [DPRG] Clay's FireFigthing robot status
From: Clay Timmons ctimmons at cadence.com
Date: Wed Feb 13 23:36:28 CST 2002

> -----Original Message-----
> From: D. Daniel McGlothin [mailto:ddm_dprg at yahoo.com]
> If you have distance sensing (e.g., wheel encoders), and have 
> the luxury of
> movement while determining wall angle, you might try 
> measuring the wall
> distance, moving a known distance, and re-measuring the wall distance.

This was my second of 4 ideas however the first one did not 
work out so this is what I ended up doing. Luckily my C compiler
supports floating point for the arctan.

Looks like the angle problem is solved.  Navigation is 90% complete,
just have to add some finishing touches.  Flame detection and extingush
next with two days to go. I may still have a chance at this!

-Clay Timmons-

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