Transcript How Drive Works 4. Left motor 3. Motor controller 0. Battery power 1. Wireless router 4.

How Drive Works
4. Left motor
3. Motor controller
0. Battery power
1. Wireless router
4. Right motor
2. IIS on Laptop
Drive Command
http://betty2/betty/?command=drive&LeftMotor=-20&RightMotor=80
Turn left
-20
Straight
+80
+40
Turn right
+40
+80
-20
+X
+Y
-Z
+Y
-Y
-X
+Z
-Y
-X
+Z
Y: +0.5
Angle: +45⁰
Y: 0.0
Angle: 0.0
• Y Value Range: -1 to +1
• Formula: Value * 90⁰
• Fires 50x/second, we want every 5th
Y: -0.5
Angle: -45⁰
Z:Degrees
0.0 (0⁰)
Z: -0.5 (-45⁰)
Z: 0.5 (45⁰)
Z: -1.0 (-90⁰)
Z: 1.0 (90⁰)
Z: -0.5 (-45⁰)
Z: 0.5 (45⁰)
Z: 0.0 (0⁰)
Aim Command
http://betty2/betty/?command=aim&pan=-20&tilt=40
+90⁰ to +1⁰
-1⁰ to -90⁰
0⁰ - 90⁰
Tilt = up / down
Pan = left / right
How Aim Works
http://betty2/betty/?command=aim&pan=-20&tilt=40
4. Tilt Servo
2. IIS on Laptop
3. Phidgets
Servo Controller
1. Wireless router
4. Pan Servo
How Fire Works
http://betty2/betty/?command=fire
2. IIS on Laptop
3. Phidgets
Relay Controller
4. C0²
1. Wireless router
MainPage.xaml
Status, Drive, Aim, Fire
user controls
Navigation
user control
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