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cs:hydrophones:start [2019/02/21 19:32] Christofer Freeberg |
cs:hydrophones:start [2019/02/21 19:50] (current) Christofer Freeberg [Testing Procedure] |
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| 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 ====== | + | ==== Testing Procedure ==== |
| - | Materials: | + | ==Materials:== |
| - | 1 tub of water | + | * 1 tub of water |
| - | 1 pinger | + | * 1 pinger |
| - | Hydrophone Test Rig | + | * Hydrophone Test Rig |
| - | Test Rig: | + | ==Test Rig:== |
| - | - Pinger at one end of tub | + | * Pinger at one end of tub |
| - | - Hydrophones at other end of tub | + | * Hydrophones at other end of tub |
| - | - If lots of noise in readings observed, can place towels around tub | + | * If lots of noise in readings observed, can place towels around tub |
| - | Procedure: | + | ==Procedure:== |
| - | 1- ssh into the sub | + | - ssh into the sub |
| - | 2- roslaunch robosub cobalt.launch | + | - roslaunch robosub cobalt.launch |
| - | 3- rosrun robosub pinger_bearing | + | - rosrun robosub pinger_bearing |
| - | 4- rostopic echo /hydrophones/bearing | + | - rostopic echo /hydrophones/bearing |
| - | 5- Manipulate hydrophones & Observe bearing readings | + | - Manipulate hydrophones & Observe bearing readings |
