10. Final program
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This project remains an open project. The beacon system may be used for indoor-roboting. Actually if more than three beacons are used and the program is changed accordingly, a robot may even be navigated through several rooms. Thus the receiver-program has to manage an array of beacon-coordinates. It must check if there are actually three beacons which are well received. The program must treat the error-messages.
Because of error-conditions (mainly error 1, 7 and 8, which are out-of-range error, resp. echo-values) perfect navigation needs additional dead-reckoning or the implanting of a KALMAN-filter.
If the robot moves around too quickly, the positioning process must consider the different real positions at the ping-moments.
If a static solution -e.a. no turnable beacons- is taken, multi-roboting is possible.