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cs:hydrophones:start [2017/09/12 18:12] James Irwin |
cs:hydrophones:start [2019/02/21 19:48] Christofer Freeberg |
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====== Hydrophones ====== | ====== Hydrophones ====== | ||
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]]. | 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 |