Merge pull request #12 from Tmktahu/5-chip-ips

IPS - Asynchronous Release

IPSA/Error Testing/Dropping Zeros Method.txt/Raw Measurements.txt

@@ -0,0 +1,35 @@
+All measurements were done in different tests.
+Dropping Zeroes Method with Exponential Smoothing. Additional layer of smoothing on Speed.
+
+// Velocity code pattern
+f=0.08 t=0.2 x=:x // Coded by Fryke#0746
+a=(:x-x) b/=a :k+=f*(a-:k) :g=:k/:j*t x=:x goto10
+x=:x goto10
+
+// Speed code
+r=0.5 f=0.1 t=0.2 // Coded by Fryke#0746
+a=((:k^2+:l^2+:m^2)^r)/t :j+=f*(a-:j) goto10
+
+:is
+156.086,156.793,157.359,157.812,158.555,159.588,160.427,158.78,158.053,157.472,157.007,156.635,156.878,157.481,158.38,159.521,179.257,179.537,179.761,180.078,180.368,180.731,181.038,181.284,181.481,181.655,181.893,180.082,177.88,176.439,175.582,174.896
+
+:vx
+0.039,0.04,0.039,0.04,0.039,0.04,0.039,0.04,0.039,0.04,0.039,0.038,0.04,0.043,0.041,0.041,0.039,0.038,0.04,0.041,0.039,0.04,0.039,0.04,0.039,0.04,0.039,0.04,0.039,0.04,0.039,0.04,0.041,0.041,0.041,0.041,0.04,0.04,0.039,0.038,0.039,0.038,0.04,0.038
+
+:vy
+-0.04,-0.04,-0.04,-0.041,-0.041,-0.037,-0.042,-0.042,-0.042,-0.041,-0.041,-0.041,-0.041,-0.04,-0.041,-0.041,-0.041,-0.041,-0.04,-0.04,-0.04,-0.037,-0.038,-0.038,-0.039,-0.039,-0.039,-0.039,-0.04,-0.04,-0.04,-0.041,-0.037,-0.037,-0.038,-0.039,-0.04
+
+:vz
+-0.04,-0.041,-0.041,-0.041,-0.041,-0.041,-0.041,-0.041,-0.041,-0.041,-0.041,-0.041,-0.041,-0.041,-0.041,-0.037,-0.038,-0.038,-0.043,-0.043,-0.042,-0.038,-0.039,-0.039,-0.04,-0.036,-0.038,-0.038,-0.039,-0.036,-0.037,-0.039,-0.04,-0.036,-0.038,-0.039
+
+:vxr
+32.006,32.006,32.006,35.398,35.398,35.398,38.519,38.519,38.519,38.466,38.344,38.344,38.344,38.288,38.159,38.131,38.131,38.016,37.391,34.677,37.577,37.577,37.59,37.59,37.59,37.536,37.424,35.968,34.628,34.628,34.628,34.865,33.818,33.818,34.154,34.352
+
+
+31.71,31.71,31.71,32.201,32.572,32.963,33.296,33.296,33.653,33.938,34.147,34.147,34.147,34.147,34.417,34.599,33.991,32.136,30.744,30.744,30.744,31.24,31.759,29.49,29.877,30.423,31.015,31.015,30.261,30.863,31.412,31.412,31.412,31.412,31.918,32.389
+
+:vyr
+-30.762,-28.153,-28.917,-29.525,-30.175,-30.779,-31.169,-31.169,-31.916,-29.209,-29.796,-30.425,-31.161,-31.594,-28.907,-29.60,-28.408,-25.966,-26.813,-27.721,-27.721,-28.407,-29.11,-29.051,-30.151,-27.566,-28.316,-29.239,-26.724,-27.596,-28.542,-29.163
+
+:vzr
+-30.35,-30.846,-28.284,-29.137,-29.82,-30.362,-27.835,-28.725,-29.353,-30.022,-27.419,-28.444,-29.094,-29.785,-29.785,-29.785,-29.681,-30.325,-27.798,-28.598,-29.331,-30.001,-30.52,-31.084,-28.495,-29.239,-29.888,-30.422,-27.782,-28.765,-29.476,-30.076

IPSA/Error Testing/Error Counting Method/Raw Measurements.txt

@@ -0,0 +1,32 @@
+All measurements were done in different tests.
+Error Counting Method with Exponential Smoothing. Additional layer of smoothing on Speed.
+
+// Velocity code pattern
+f=0.08 t=0.2 x=:x ec=1 // Coded by Fryke#0746
+a=(:x-x)/ec b/=a :k+=f*(a-:k) :g=:k/:j*t x=:x ec=1 goto10
+ec++ goto10
+
+// Speed code
+r=0.5 f=0.1 t=0.2 // Coded by Fryke#0746
+a=((:k^2+:l^2+:m^2)^r)/t :j+=f*(a-:j) goto10
+
+:vx
+0.041,0.041,0.041,0.041,0.041,0.039,0.039,0.04,0.04,0.04,0.04,0.04,0.04,0.04,0.04,0.04,0.04,0.04,0.041,0.041,0.04,0.04,0.04,0.039,0.038,0.039,0.04,0.04,0.04,0.04,0.04,0.04,0.04,0.04,0.039,0.038,0.038,0.039,0.037,0.037,0.038,0.039,0.037,0.038,0.039
+
+:vy
+-0.038,-0.04,-0.041,-0.037,-0.039,-0.04,-0.041,-0.042,-0.043,-0.043,-0.043,-0.038,-0.04,-0.041,-0.041,-0.037,-0.04,-0.04,-0.04,-0.039,-0.038,-0.039,-0.041,-0.041,-0.037,-0.039,-0.039,-0.04,-0.041,-0.042,-0.042,-0.037,-0.039,-0.04,-0.041,-0.041,-0.041
+
+:vz
+-0.04,-0.044,-0.041,-0.041,-0.041,-0.038,-0.04,-0.04,-0.04,-0.037,-0.039,-0.04,-0.04,-0.038,-0.039,-0.04,-0.041,-0.041,-0.041,-0.039,-0.037,-0.038,-0.039,-0.039,-0.036,-0.038,-0.039,-0.04,-0.04,-0.04,-0.04,-0.041,-0.041,-0.042,-0.042,-0.042,-0.042
+
+:vxr
+28.916,28.916,29.578,29.578,29.578,30.201,30.82,31.309,31.8,32.265,32.265,32.265,32.67,32.67,30.352,30.644,31.147,31.659,30.56,31.467,31.931,31.931,31.931,32.35,32.795,32.795,32.795,33.106,33.479,33.479,33.479,33.781,34.037,34.037,34.037,34.256,34.561
+
+:vyr
+-30.046,-30.583,-30.583,-30.583,-31.077,-31.577,-29.403,-29.594,-30.212,-30.78,-28.217,-28.955,-29.639,-30.152,-30.724,-30.724,-34.916,-34.916,-35.063,-35.174,-35.174,-33.865,-34.033,-34.24,-34.24,-34.24,-34.396,-31.759,-32.16,-32.536,-32.536,-32.868
+
+:vzr
+-30.941,-30.941,-31.412,-31.896,-31.896,-30.797,-31.329,-31.837,-29.183,-29.853,-30.452,-30.078,-28.519,-32.145,-32.524,-32.91,-31.582,-32.052,-32.499,-29.797,-29.797,-30.37,-30.911,-30.911,-30.911,-31.42,-31.42,-31.42,-33.316,-33.316,-33.316,-33.316
+
+:is
+107.516,107.307,106.702,106.701,107.068,107.362,106.938,107.025,107.438,108.191,109.113,110.167,111.01,111.685,111.685,112.501,109.908,110.606,111.47,112.456,113.244,113.875,113.875,114.62,115.456,116.124,116.659,117.326,118.025,117.093,116.192,115.758

IPSA/Execution Queueing/IPSA_5_Velocity1.yolol

@@ -0,0 +1,15 @@
+// blank space is here so we can avoid bad values on startup
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+t=0.28 x=:x c=100 // Coded by Fryke#0746
+a=:x-x b/=a d=(ABS(a/c)<1) :k=a*d+(1-d)*a/(a/c) c=a x=:x goto10
+x=:x goto10
+// Velocity Chip #1 - Advanced
+// Calcs X component of the velocity vector
+// Stored raw value in :k, normalized value in :g
+// Accesses :x, :k, :j

IPSA/Execution Queueing/IPSA_6_Velocity2.yolol

@@ -0,0 +1,15 @@
+// blank space is here so we can avoid bad values on startup
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+t=0.28 y=:y c=100 // Coded by Fryke#0746
+a=:y-y b/=a d=(ABS(a/c)<1) :l=a*d+(1-d)*a/(a/c) c=a y=:y goto10
+y=:y goto10
+// Velocity Chip #2 - Advanced
+// Calcs Y component of the velocity vector
+// Stored raw value in :l, normalized value in :h
+// Accesses :y, :l, :j

IPSA/Execution Queueing/IPSA_7_Velocity3.yolol

@@ -0,0 +1,15 @@
+// blank space is here so we can avoid bad values on startup
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+t=0.28 z=:z c=100 // Coded by Fryke#0746
+a=:z-z b/=a d=(ABS(a/c)<1) :m=a*d+(1-d)*a/(a/c) c=a z=:z goto10
+z=:z goto10
+// Velocity Chip #3 - Advanced
+// Calcs Z component of the velocity vector
+// Stored raw value in :m, normalized value in :i
+// Accesses :z, :m, :j

IPSA/Execution Queueing/IPSA_8_Speed.yolol

@@ -0,0 +1,15 @@
+// blank space is here so we can avoid bad values on startup
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+f=0.4 t=0.28 r=0.5 c=100 // Coded by Fryke#0746
+a=((:k^2+:l^2+:m^2)^r)/t :j+=f*((a/(a/c))-:j) c=a goto10
+goto10
+// Speed Chip - Advanced
+// Spits out movement speed :j
+// Accesses :k, :l, :m
+// Uses exponential smoothing

IPSA/GlobalVariableMap.txt

@@ -0,0 +1,45 @@
+This is the current variable map for CBM.
+
+Internal Global Variables:
+- :a = North Signal Strength
+- :b = South Signal Strength
+- :c = East Signal Strength
+- :d = West Signal Strength
+
+e
+f
+
+- :g = Normalized Velocity Vector X
+- :h = Normalized Velocity Vector X
+- :i = Normalized Velocity Vector X
+- :j = Speed
+- :k = Raw Velocity Vector X
+- :l = Raw Velocity Vector Y
+- :m = Raw Velocity Vector Z
+
+- :n = West Distance
+- :o = North Distance
+- :p = East Distance
+- :q = South Distance
+
+- :r = Raw Calculated X
+- :s = Raw Calculated Y
+- :t = Raw Calculated Z
+- :u = Dirty Rotated X
+- :v = Dirty Rotated Y
+- :w = Dirty Rotated Z
+- :x = Final X
+- :y = Final Y
+- :z = Final Z
+
+External Global Variables:
+- :x = Final X
+- :y = Final Y
+- :z = Final Z
+- :is = Speed
+- :vx = Normalized Velocity Vector X
+- :vy = Normalized Velocity Vector Y
+- :vz = Normalized Velocity Vector Z
+- :vxr = Raw Velocity Vector X
+- :vyr = Raw Velocity Vector Y
+- :vzr = Raw Velocity Vector Z

IPSA/IPSA_1.yolol

@@ -0,0 +1,7 @@
+t=1000 m=t*t // Coded by Fryke#0746
+:n=(m-:d)^2 :o=(m-:a)^2 :p=(m-:c)^2 :q=(m-:b)^2 goto2
+goto2
+// Chip #1 - Advanced
+// Grabs receiver values and stores them in :n, :o, :p, :q
+// Accesses receiver values :a, :b, :c, :d
+// :a = north, :b = south, :c = east, :d = west

IPSA/IPSA_2.yolol

@@ -0,0 +1,8 @@
+ca=91923 cb=74246 cc=4078 cd=95460 ce=65966 // Coded by Fryke#0746
+a=ca*ca b=2*ca c=2*(ca-cb) d=cb*cb-ca*ca+cd*cd e=2*cd f=2*(cb-cc)
+g=2*(cd-ce) h=5200332997 i=142220 t=1000 m=t*t
+:r=(:n-:o+a)/b :s=(:o-:p+:r*c+d)/e :t=(:p-:q+:r*f+:s*g-h)/i goto4
+goto4
+// Chip #2 - Advanced
+// Calculating raw [X, Y, Z] saved as [:r, :s, :t]
+// Accesses :n, :o, :p, :q

IPSA/IPSA_3.yolol

@@ -0,0 +1,8 @@
+ch=272015 d=368640 e=888881 f=-652758 j=111030 k=749384 l=550023
+n=707044 o=444478 // Coded by Fryke#0746
+:u=(ch*:r-d*:s+e*:t) :v=(f*:r-k*:s-j*:t) :w=(n*:r-l*:s-o*:t) goto3
+goto3
+// Chip #3 - Advanced
+// Rotation math, rotated coordinates stored in [:u, :v, :w]
+// Note these need to be divided by 1,000,000 to be useable
+// Accesses [:r, :s, :t]

IPSA/IPSA_4.yolol

@@ -0,0 +1,5 @@
+t=1000 m=t*t a=5000 b=-60000 c=0 :x=:u/m-a :y=:v/m-b :z=:w/m-c goto1
+goto1 // Coded by Fryke#0746
+// Chip #4 - Advanced
+// Divide rotations mill, apply origin offsets, saves to [:x, :y, :z]
+// Accesses [:u, :v, :w]

IPSA/IPSA_5_Velocity1.yolol

@@ -0,0 +1,16 @@
+// blank space is here so we can avoid bad values on startup
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+f=0.08 t=0.23 x=:x // Coded by Fryke#0746
+a=:x-x b/=a :k+=f*(a-:k) :g=:k/:j*t x=:x goto10
+x=:x goto10
+// Velocity Chip #1 - Advanced
+// Calcs X component of the velocity vector
+// Stored raw value in :k, normalized value in :g
+// Accesses :x, :k, :j
+// Uses exponential smoothing to account for 'double' errors

IPSA/IPSA_6_Velocity2.yolol

@@ -0,0 +1,16 @@
+// blank space is here so we can avoid bad values on startup
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+f=0.08 t=0.23 y=:y // Coded by Fryke#0746
+a=:y-y b/=a :l+=f*(a-:l) :h=:l/:j*t y=:y goto10
+y=:y goto10
+// Velocity Chip #2 - Advanced
+// Calcs Y component of the velocity vector
+// Stored raw value in :l, normalized value in :h
+// Accesses :y, :l, :j
+// Uses exponential smoothing to account for 'double' errors

IPSA/IPSA_7_Velocity3.yolol

@@ -0,0 +1,16 @@
+// blank space is here so we can avoid bad values on startup
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+f=0.08 t=0.23 z=:z // Coded by Fryke#0746
+a=:z-z b/=a :m+=f*(a-:m) :i=:m/:j*t z=:z goto10
+z=:z goto10
+// Velocity Chip #3 - Advanced
+// Calcs Z component of the velocity vector
+// Stored raw value in :m, normalized value in :i
+// Accesses :z, :m, :j
+// Uses exponential smoothing to account for 'double' errors

IPSA/IPSA_8_Speed.yolol

@@ -0,0 +1,14 @@
+// blank space is here so we can avoid bad values on startup
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+// blank
+f=0.1 t=0.23 r=0.5 // Coded by Fryke#0746
+a=((:k^2+:l^2+:m^2)^r)/t :j+=f  *(a-:j) goto10
+// Speed Chip - Advanced
+// Spits out movement speed :j
+// Accesses :k, :l, :m
+// Uses exponential smoothing since we multiply error by 5 here

IPSA/IPSA_9_SetupAndDisplay.yolol

@@ -0,0 +1,10 @@
+om="IPS-A :o\n" bm=om+"  Booting  " em="Setup Error" :o=bm t=1000
+op="origin_" nt=op+"north" st=op+"south" et=op+"east" wt=op+"west"
+cm="\n   Check   " cr="\n Receivers " :AT=nt :BT=st :CT=et :DT=wt
+mx="X: " my="\nY: " mz="\nZ: " ms="\nS: " // Coded by Fryke#0746
+mu=" m/s" e=:a/:b/:c/:d goto7
+:o=om+em+cm+cr goto2
+:o=om+mx+:x/t*t+my+:y/t*t+mz+:z/t*t+ms+:is/t*t+mu goto7
+goto7
+// Setup and Display Chip - Advanced
+// Setups up receivers, checks for errors, displays info with rounding