Programs: the actual files

Ok, here are all the programs (not just the main one) as well as descriptions. Click on the name of the program to download it.

COMPASSPWNT.vi
Version 1 of a sub VI we made that turns to a certain heading based on the current reading of the compass sensor. Because our field never rotates, it is not neccesary to take and store a relative heading. A value is instead plugged in, and the program moves a distance based on the difference between that optimal heading and the current heading. The program goes through several iterations, stopping when it is within a degree of the optimal heading. (under ideal circumstances.)

COMPASSPWNT1.1.vi
This program runs the same as the first COMPASSPWNT in most cases, however, under certain circumstances the compass sensor would error out and return a value of approximately 66 thousand. This version detects this and acts accordingly, giving out 2 beeps instead of one and continuing on anyway.

VERY IMPORTANT TRAPEZOID RULE PROGRAM!!!!.vi
This program is an experiment I made that uses the trapezoid rule (a method used to estimate definite integrals for which the equation is not known, only a set of values.) to integrate an array twice. One of the main purposes of this is to get either velocity or distance readings from a set of acceleration values.

Gyro Temp1.vi
This program uses a section of the trapezoid rule program to take velocity readings from the gyro sensor and return a position estimate. It did tend to run somewhat slow however.

Gyro Temp1.1.vi
This version of the gyro temp program does the exact same thing, using the trapezoid rule again, but uses a much more effective algorithm to accomplish this. This algorithm is much more effective because it is designed for a much more limited purpose, it only has to calculate the current position and thus may simply add to or subtract from the previous position based on the latest readings.

SonarAlign.vi
This sub VI uses the ultrasonic sensor to determine the distance to the wall in front of the robot and moves itself to a position a certain distance away from the wall. The algorithm goes through several iterations, each getting it to a more accurate position then the last, until it is within a centimeter of the optimal distance.

Water 3.vi
A very old version of the program, one of the first few we did.

WaterNhydrogentoggle.vi
A somewhat older version of the program, however most of the later actions are taking place.

WaterNhydrogenTridgeBase8comments.vi
The latest version of our program so far. All of our most advanced VIs are used in this one.

TempWater32.1Real.vi
This program is an old temporary part of the program that runs only from after the robot leaves the crater. This is to allow us to test and modify the second part of the program without being encumbered by the time and possible problems in the first part.

TempWaterNhydrogenBase7comments.vi
Another, later, second half of the program. This one is one of the first we used the ultrasonic sensor vi in.