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| Both sides previous revision Previous revision Next revision | Previous revision | ||
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cs:hydrophones:start [2017/09/12 18:11] James Irwin created |
cs:hydrophones:start [2019/02/21 19:50] (current) Christofer Freeberg [Testing Procedure] |
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| ====== Hydrophones ====== | ====== Hydrophones ====== | ||
| - | Our hydrophones are a powerful tool for figuring out where we are in the water. Look at the subpages for the maths involved. | + | Our hydrophones are a powerful tool for figuring out where we are in the water. Using 4 hydrophones, we can calculated our bearing to the pinger. For details, see [[cs:hydrophones:pinger_bearing:start|Pinger Bearing]]. |
| + | |||
| + | ==== Testing Procedure ==== | ||
| + | ==Materials:== | ||
| + | * 1 tub of water | ||
| + | * 1 pinger | ||
| + | * Hydrophone Test Rig | ||
| + | |||
| + | ==Test Rig:== | ||
| + | * Pinger at one end of tub | ||
| + | * Hydrophones at other end of tub | ||
| + | * If lots of noise in readings observed, can place towels around tub | ||
| + | |||
| + | ==Procedure:== | ||
| + | - ssh into the sub | ||
| + | - roslaunch robosub cobalt.launch | ||
| + | - rosrun robosub pinger_bearing | ||
| + | - rostopic echo /hydrophones/bearing | ||
| + | - Manipulate hydrophones & Observe bearing readings | ||
