NaviPal Assistive Device

Initial Concept

Development

Hardware

Software

#include "distanceCalculation.h"
#include "Arduino.h"

distanceCalculation::distanceCalculation(float RSSI)
{
  _RSSI = RSSI;
}

float distanceCalculation::calc(float _RSSI)
{
  if(_RSSI == 0){
    return -2;
  }
  else if(_RSSI == 127){
    return -2;
  }
  else{
    float N = 6;
    float A = -100;
    float ratio = ((A - _RSSI)/(10*N));
    float d = pow(10,ratio);

    return d;
  }
}

#include "trilateration.h"
#include "Arduino.h"

float x;
float y;

trilateration::trilateration(float b2x, float b2y, float b3x, float b3y) {
    _b2x = b2x;
    _b2y = b2y;
    _b3x = b3x;
    _b3y = b3y;
}

float trilateration::trilat_x(float r1, float r2, float r3) {

    x = (pow(r1, 2) - pow(r2, 2) + pow(_b2x, 2)) / (2 * _b2x);

    return x;
}

float trilateration::trilat_y(float r1, float r2, float r3) {

    y = (pow(r1, 2) - pow(r3, 2) + pow(_b3x, 2) + pow(_b3y, 2) - (2 * _b3x * x)) / (2 * _b3y);

    return y;
}