*** NOTE: This post is in flux and will be changed as requirements are changed and finalized. This should only be seen as a preliminary outline of the project requirements. ***

Localization and Mapping Software:

• All software contained on the Arcom board and the PIC micro-controller(s) will be written in C. Subsequent software applications for external hardware (eg. remote computers) may be coded in other languages.
• We will be using the following units of measure for this project. Properties not listed will be measured using metric units.
• Distances will be in centimeters.
• Angle will be in degrees.
• Temperature will be in degrees Celsius

Mapping:

• The robot will have a rotating turret that will be used for mapping.
• This turret will be capable of rotating independently of the rest of the robot.
• As of now, the robot will be stopped while mapping data is being recorded.
• The turret will have a laser rangefinder and a sonar device. The laser will be the primary distance sensor and the sonar will be the redundant system.
• Both sensors return an integer value 0-255 representing the distance to the nearest object directly in front of the sensor. These values will need to be scaled to actual distance values (cm).
• The turret will also track its current angular position relative to its original position using a magnetic encoder and a digital compass. The commands sent to the motor controlling rotation of the turret will also be monitored. The command counter will be the primary system. The encoder and compass will be secondary systems.
• The counted motor commands will be stored as an integer value (Count) where Count*N is the total angular change and N is a known constant angular distance (not yet measured).
• The digital compass returns an integer value 0-3599 representing its current angular position relative to magnetic north in tenths of a degree.
• The magnetic encoder will return an integer measure of its angular position relative to its internal reference point. Exact range is not yet known.

Localization

**Data coming soon**