bikurishita/WVU-Lunabotics — pull request #1 by lareaves (2014-02-02 06:53:15+00:00)
Title: SLAM Code

SLAM (Simultaneous Localization And Mapping)

Since the demo on 2014-02-01, I have shrunk the map buffers down to just the arena size (1 byte per square cm). I have also sped up the code quite a bit. By using threads to handle the sensor, now most of the time sensor code does not block the particle processing, unless everything gets done in the 100 ms scan time. I also eliminated the per particle buffers and am now doing the comparison with the map directly instead of storing the directional vectors to a buffer and then comparing buffers (duh). This has reduced memory usage and sped up computation. Finally, I have altered the initialization code to initialize according to the contest rules. The sensor assumes it starts in the center of one of the two starting boxes in a random location. So far, it has localized within a few seconds every time. It tracks decently at slow speed, although I'm still running at 800 MHz because the fans I ordered don't fit. I'll test it later on some real hardware. Any idea what kind of cpu we will be running on the bot?