Help me come up with a more clever way to detect opponents

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1

Hi!

 

I've built a minisumo-robot for a competition this saturday(http://www.robotchampion.se). It works quite ok, but I feel that my opponent detection is somewhat unoptimized.(Don't worry, I'll make a post with videos, pictures and such when the competition's over, no time for submissions right now, mah code needs optimizing!)


Right now I have two Sharp IR-sensors looking forward giving me a viewfield of about 120 degrees. I have an if-statement that turns left if the right sensor is closest and vice versa.

I feel that there's some clever mathematical solution to this though. Like making it turn more if the difference is bigger, I just don't know what sort of mathematical function I'm looking for, surely it must have a name right?

If you've done something similiar do share your math, I would be delighted to see how you solved it.

 

Cheers.

2

I’m currently thinking about

I’m currently thinking about some sort of PD-loop, but I don’t think that’s the best way to do it. Since a PD-loop is for maintaning a value within a certain range, something I don’t want(I think).

3

You probably do want a PD loop

You just have to reframe your problem.

4

You’re probably right. I’m

You’re probably right. I’m not sure how though.

 

I spent some time reading about trigonometrics today, maybe something that tries to keep the sides of the triangle that is the sensors detection range in some certain angle?

5

I’ve looked at things like

I’ve looked at things like triliteration, and it seems it’s close to what I need. However, I don’t know how to express this as a function or in programming. Has anyone done anything similiar and want to share their pseudocode with me? I just don’t know where to look for examples really.