2008-03-02
Trials A-D re-ran indoor wifi signals strength readings with a different
experimental setup.  The set-up added another computer to control the robot and
record odometry data and the original computer just recorded the signal
strength data from the three wireless interfaces.

The format of the files are:

p3at-<date>-<time>.log
  <timestamp> odom <speed> <x pos> <y pos>

sigstr_{date}_{interface}_{router|all}.log
  <timestamp> <router> <signal strength> <power>

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TRIAL A:  
Drive in a straight line from the starting point at a constant velocity, 
100 mm/s, for 60 meters.

Starting point:  (2510mm, 5700mm)
Finish: (62253mm, 8585mm)

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TRIAL B:  
Drive in a straight line for 4 meters at 100 mm/s, stop for 20 seconds, drive 4 meters.  
Repeat 15 times (drive 60 m).

Start:  (2510mm, 5700mm)
Finish: (62306mm, 8255mm)

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TRIAL C:
Drive in a straight line at different velocities.  At 2 different
locations, stop and drive backward for some time, then continue driving
forward.

Start: (2510mm, 5700mm)
Finish: (62152mm, 7849mm)

The move schedule for Trial C is as follows:
Speed(mm/s) | Time at this speed (s)
----------------------------------
100	10
300	15
200	25
100	60
150	30
100	50
0	20
-100	15
0	10
100	35
150	10
100	30
75	50
0	20
-100	20
0	10
100	to the end

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TRIAL D:
Drive in a pre-defined pattern.

Start: (2510mm, 5700mm)
Finish: (67511mm, 9093mm)

The pattern is a {turn (deg), translation(mm)} followed by a pause for 15s
4x {0, 4000}
{-90,2500}
{90, 4000}
{0, 4000}
{90, 4000}
{0, 2000}
{-90, 4000}
{0,3500}
{-90, 3500}
{90, 2500}
{0,2000}
7x {0,4000}