Ok, when you are figuring the trig for this, theta is measured from the center... so lets see.
for X you would use Sin(Yaw)*Dist=X
Dist from the ranger, Yaw(if the object is on the XY axis) from the gyro.
Y would be Cos(Yaw)*Dist=Y
Because I believe the measurements are in bearing format(like normal mathematical format but measured from the Y axis instead of the X).
If that makes the outputs look funny, you need to use the opposite Trig function for x and y, just switch the sin and cos.
Just use the X Y position from that to make the circle.


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