Aligning the robot based on the position of the IR Beacon.

I have been working on a program to position my robot based on the position of the ir beacon. Unfortunately, depending on the location of the beacon, the success of the alignment varies. How do I correct this?

G

We will need to see the code before we are able to help debug it at all. Please post the code by using the [code] tags so we can take a look at it for you.

The following thread has some info about the IR Seeker accuracy.
viewtopic.php?f=52&t=2780

here is some code:

#pragma config(Hubs, S1, HTMotor, HTMotor, HTMotor, HTServo)
#pragma config(Sensor, S2, HTIRS2, sensorI2CCustom)
#pragma config(Motor, mtr_S1_C1_1, OmniFL, tmotorTetrix, PIDControl, reversed, encoder)
#pragma config(Motor, mtr_S1_C1_2, OmniFR, tmotorTetrix, PIDControl, encoder)
#pragma config(Motor, mtr_S1_C2_1, OmniRR, tmotorTetrix, PIDControl, encoder)
#pragma config(Motor, mtr_S1_C2_2, OmniRL, tmotorTetrix, PIDControl, reversed, encoder)
#pragma config(Motor, mtr_S1_C3_1, ShoulderL, tmotorTetrix, PIDControl, encoder)
#pragma config(Motor, mtr_S1_C3_2, ShoulderR, tmotorTetrix, PIDControl, reversed, encoder)
#pragma config(Servo, srvo_S1_C4_1, Slide, tServoContinuousRotation)
#pragma config(Servo, srvo_S1_C4_2, Wrist, tServoStandard)
#pragma config(Servo, srvo_S1_C4_3, Seeker, tServoStandard)
#pragma config(Servo, srvo_S1_C4_4, EmptyServo, tServoStandard)
#pragma config(Servo, srvo_S1_C4_5, EmptyServo, tServoStandard)
#pragma config(Servo, srvo_S1_C4_6, EmptyServo, tServoStandard)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

#include "drivers/hitechnic-irseeker-v2.h"

task main()
{
int _dirAC = 0;
int acS1, acS2, acS3, acS4, acS5 = 0;
int _dirEnh, _strEnh;
int _speed = 0;
int _level = 0;
int _forwardcount=0;
bool _aligned = false;
bool _done = false;

_speed = 30;
motor[OmniFL] = _speed;
motor[OmniFR] = _speed;
motor[OmniRL] = _speed;
motor[OmniRR] = _speed;
wait1Msec(1000);

while(!_done)
{

_dirAC = HTIRS2readACDir(HTIRS2);
if (_dirAC < 0)
break; // I2C read error occurred

if (!HTIRS2readAllACStrength(HTIRS2, acS1, acS2, acS3, acS4, acS5 ))
break; // I2C read error occurred

if (!HTIRS2readEnhanced(HTIRS2, _dirEnh, _strEnh))
break; // I2C read error occurred

if(_dirAC>0)
{
_speed = 40;
if(_dirAC > 5 || acS4 > 0 )
{
if(_aligned)
_speed=30;
// Strafe right //
motor[OmniRR] = _speed; //reversed//
motor[OmniRL] = -1*_speed;
motor[OmniFL] = _speed;
motor[OmniFR] = -1*_speed; //reversed//
}
else if((_dirAC < 5) || (acS2 > 0))
{
// Strafe left //
if(_aligned)
_speed=30;
motor[OmniRR] = -1*_speed; //reversed//
motor[OmniRL] = _speed;
motor[OmniFL] = -1*_speed;
motor[OmniFR] = _speed; //reversed//
}
else
{

motor[OmniFL] = 0;
motor[OmniFR] = 0;
motor[OmniRL] = 0;
motor[OmniRR] = 0;

if(!_aligned) // or !aligned
{
_aligned=true;

if(_strEnh < 85)
_level=3;
else if(_strEnh < 170)
_level=2;
else
_level=1;
// move arm to the correct height and then move forward
// _level 1 = lowest rung; _level 2 = middle rung; _level 3 = highest rung
// insert code here
}

_speed=30;
// _speed is set to 25; adjust motor speed
motor[OmniFL] = _speed;
motor[OmniFR] = _speed;
motor[OmniRL] = _speed;
motor[OmniRR] = _speed;

_forwardcount++;

if(_forwardcount>40) //try again/// do you have the code to adjust the arms? Yes
{
_done=true; // turn on boolean switch to exit the while loop
// back up from rack
motor[OmniFL] = -1*_speed;
motor[OmniFR] = -1*_speed;
motor[OmniRL] = -1*_speed;
motor[OmniRR] = -1*_speed;
wait1Msec(500);
_speed = 0;
}
}
}
}
// _speed is set to 0; turn off motors
motor[OmniFL] = _speed;
motor[OmniFR] = _speed;
motor[OmniRL] = _speed;
motor[OmniRR] = _speed;

}