I have a problem doing MCLTest on EV3

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I have a problem doing MCLTest on EV3

Postby seongyunko » Sat May 17, 2014 5:05 am

Hi , I am trying to use MCL. :D

But I got the following error message after I clicked "GetPose"

Evecnt Received : PARTICLE_SET
Evecnt Received : ESTIMATED_POSE
Evecnt Received : RANGE_READINGS
Exception in thread "Thread-2" java.lang.ArrayIndexOutOfBoundsException : -62
at lejos.ev3.tools.PCNavigationModel$Receiver.run(PCNavigationModel.java:810)
at java.lang.Thread.run(Unknown Source)

I am using 0.7 alpha version.

It seems the index "event" in PCNavigationModel has been exceeded...
Do you know how to solve this problem?

Thank you..
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Re: I have a problem doing MCLTest on EV3

Postby lawrie » Sat May 17, 2014 10:37 am

You are quite brave using this as it has very little testing on the EV3, and has very little documentation.

I will try it out and see if I can get it working. It looks like some problem returning the range readings to the PC.

Have you modified MCLTest or are you using it unchanged?

What sensor are you using?

By default, MCLTest rotates the robot and tries to take three readings at 45 degree angles. Is that what you are attempting. Does the robot try to do that when you click GET_POSE?

Lawrie
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Re: I have a problem doing MCLTest on EV3

Postby gloomyandy » Sat May 17, 2014 12:32 pm

Also I would suggest that you think about upgrading to the latest version of leJOS. it is likely that any fixes will be based upon the current release.
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Re: I have a problem doing MCLTest on EV3

Postby hdpark » Fri Jun 13, 2014 6:24 am

Hello!
I also have the same problem. :?
I'm using the lejos 0.8.0 alpha version but seems like that this problem doesn't solved yet.
When I first clicked 'get pose' button in EV3MCLCommand.java, EV3 rotates 3 times and then below error occurs.

Exception in thread "Thread-2" java.lang.ArrayIndexOutOfBoundsException : -62
at lejos.ev3.tools.PCNavigationModel$Receiver.run(PCNavigationModel.java:810)
at java.lang.Thread.run(Unknown Source)

After above error occurrence, the 'get pose' button is disabled.
(I tested both ultrasonic sensor and IR sensor but results are same.)
How can I solve this problem?
Where is the '-62' value comes from?

Thanks in advance,
hdpark
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