Difference between revisions of "RCwiproc"
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(→Wireless Protocol) |
(→Data Rate calculations) |
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==Data Rate calculations== | ==Data Rate calculations== | ||
100 fps | 100 fps | ||
| + | <br> | ||
At least two frames need to track motion theta | At least two frames need to track motion theta | ||
| + | <br> | ||
Time per command 20ms | Time per command 20ms | ||
| + | >br> | ||
Each robot needs 3 bytes (will change) | Each robot needs 3 bytes (will change) | ||
| + | <br> | ||
6 robots = 18 Bytes | 6 robots = 18 Bytes | ||
| + | <br> | ||
10 bits per Byte (Start bit , 8 data bits, 1 stop bit) | 10 bits per Byte (Start bit , 8 data bits, 1 stop bit) | ||
| + | <br> | ||
(18 Bytes/20ms)*(10 bits/1 Byte) = 9kbps | (18 Bytes/20ms)*(10 bits/1 Byte) = 9kbps | ||
| + | <br> | ||
Double bit rate for Manchester encoding 18kbps | Double bit rate for Manchester encoding 18kbps | ||
| + | <br> | ||
=19.2Bps baud rate | =19.2Bps baud rate | ||
| + | |||
==Articles== | ==Articles== | ||
==Links== | ==Links== | ||
[[RCcoms|Wireless Hompage]] | [[RCcoms|Wireless Hompage]] | ||
Revision as of 12:23, 13 April 2006
Wireless Protocol
The host will be able to send each robot velocity, direction, and shoot directives, at with the time alloted between each sample of the playing field by the overhead camera. In such way the enitre system (host, camera, and robot) will behave as a real-time system. The robot will send its current error status, battery voltage, wheel velocity, unique ID, and whether or not it has the ball to the host but not in real-time.
Data Rate calculations
100 fps
At least two frames need to track motion theta
Time per command 20ms
>br>
Each robot needs 3 bytes (will change)
6 robots = 18 Bytes
10 bits per Byte (Start bit , 8 data bits, 1 stop bit)
(18 Bytes/20ms)*(10 bits/1 Byte) = 9kbps
Double bit rate for Manchester encoding 18kbps
=19.2Bps baud rate
