SonarProxy

Hi guys,

I currently have a robot that I am trying to get to follow another one. It
has 3 sonars on the front for object detection going off in various angles.
However, I was reading up in the documentation and apparently the sonars
return distances in metres depending on how far away  an obstacle is. I'm
currently outputting the data to the terminal (thanks to those who helped me
do that btw), but it's returning really weird numbers - was wondering if
anyone could tell me why. The robots are about 5m apart and as the srobot
gets closer it returns (sample of values):

-1073741824   1073165765   0   1074790400
-2147483648   1073010712   0   1074790400
-2147483648   1073010712   0   1074790400
-2147483648   1073010712   0   1074790400
-2147483648   1073010712   0   1074790400
-2147483648   1073010712   0   1074790400


The robots are obviously not that far apart.The code (which is looped
through repeatedly) that outputs this is as below (sorry, I can't format it
in my email client):

______________________________________________________________________________________

//----------------------------------------
// TARGET
//----------------------------------------
void TargetUAV(double *forwardSpeed, double *turnSpeed, \
           BlobfinderProxy &bfp, SonarProxy &sp)
{

  int i, centre;
  playerc_blobfinder_blob_t blob;
  //turns at 180 degrees/sec
  int turningSpeed = 180;
  //will avoid obstacles closer than 4m;
  double avoidDistance = 4;
  bool greenFound = false;
  int noBlobs = bfp.GetCount();
  //if no UAV in sight, halt UAV and exit function

   if (noBlobs == 0)
    {
      *forwardSpeed = 0;
      return;
    }

  /*number of pixels away from the image centre a blob
    can be to be in front of the robot*/
  int margin = 40;
  int biggestBlobArea = 0;
  int biggestBlob = 0;
  //find the largest blob
  for(i=0; i<noBlobs; i++)
    {
      //get blob from proxy
      playerc_blobfinder_blob_t currBlob = bfp[i];
      if(currBlob.area > biggestBlobArea)
    {
      biggestBlob = i;
      biggestBlobArea = currBlob.area;
      // if (currBlob.color == 00FF00)
      //greenFound = true;
    }
    }

  blob = bfp[biggestBlob];
  // find centre of image
  centre = bfp.GetWidth()/2;

  // printf("sp[0]  sp[1]  sp[2]  sp[3]\n");
  // printf("---------------------------------\n");

  if((sp[0] < avoidDistance) || (sp[1] < avoidDistance) || (sp[1] <
avoidDistance))
  {
    printf("%d   %d   %d   %d   \n", sp[0], sp[1], sp[2], sp[3]);
    *forwardSpeed = 0;
    *turnSpeed = 0;
    // return;
  }
  //adjust turn to centre the blob in image
  /*if the blob's centre is within some margin of the image
    centre then move forwards, otherwise turn so that it is
    centred. */
  else
    {
      //blob to the left of centre
      if(blob.x < centre-margin)
    {
      *forwardSpeed = 2;
      //turn left
      *turnSpeed = turningSpeed;
    }
      //blob to the right of centre
      else if(blob.x > centre+margin)
    {
      *forwardSpeed = 2;
      //turn right
      *turnSpeed = -turningSpeed;
    }
      //otherwise go straight ahead
      else
    {
      *forwardSpeed = 2;
      *turnSpeed = 0;
    }
 return;
    }


}

______________________________________________________________________________

If anyone could help, I'd really appreciate it :)

Thanks,

Lana

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