I'm slowly making progress on my project: the PropBot. This is a robot I built just to study the Propeller. I feel strongly about having a project as a reason to learn anything.·The objective of this robot has been to make an autonomous robot that navigates around the Parallax building parking lot via·four waypoints, avoiding any parked cars or square curbs·along the way. Ideally, I'll sit in my office and watch the bot lap the office every·two minutes or so till the battery dies.
I've made this work one step at a time. I've made each piece work on its own, then integrated them together into the Propeller. These pieces include two HB-25s, five Ping sensors and associated signal conditioning, and GPS. I'm not navigating via GPS, but I've got it working well in smart mode and displaying the data on TV or via Parallax Serial Terminal.
I'm ready to start navigating via GPS. And I seek any input you may have to help me get the best results. My approach is as follows:
Add HM55B compass for bearing
Put four GPS waypoints into Prop as constants
Do the math (using Float32) to calculate distance from existing location to waypoint (found some trig calcs to do this)
Turn robot to the right direction
Advance towards waypoint, making the same calculation every few seconds
When waypoint is reached, increment to the next waypoint
I will also send coordinates back via radio using Phil's modem app.
The waypoints I choose should have about 10-15' on either side of the robot until square curbs or parked cars are encountered.
Cam's math library is essential to the project.
Any advice, from any perspective? I have such limited time for programming and I want to make the best use of my time.