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(ccc_zumo_chase.ino) What does this formula mean?

Pixy Software
#1

for translate error, the code says :

tiltOffset += tiltLoop.m_command - PIXY_RCS_CENTER_POS - PIXY_RCS_CENTER_POS/2 + PIXY_RCS_CENTER_POS/8;

I wonder what this formula means.

-yuna

#2

Hello,
This is essentially calculating the distance to maintain from the object.

PIXY_RCS_CENTER_POS - PIXY_RCS_CENTER_POS/2 + PIXY_RCS_CENTER_POS/8 is saying "try to maintain the object at the bottom half of the image ( PIXY_RCS_CENTER_POS/2 ) but up 1/8 from the bottom ( PIXY_RCS_CENTER_POS/8 ).

You can change these values and see how it affects the way the Zumo behaves.

Changing these values will affect how closely the Zumo comes to the object.

Hope this helps!

Edward

2 Likes
#3

Adjusting the distance to the object was exactly what I wanted to know.
Thank you! =)