Building Robots With Lego Mindstorms

Math Cheat Sheet

Appendix D

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578 Appendix D • Math Cheat Sheet

Sensors

Raw values to percentage (light sensor):

percentage = 146 – raw value / 7

Raw values to temperatures, in C° (temperature sensor):

C° = (785 – raw value) / 8

Conversion of Celsius to Fahrenheit degrees:

F° = C° x 9 / 5 + 32

Averages

Simple average:

A = (V

1

+ V

2

+… + V

n

) / n

Weighted average:

A = (V

1

x W

1

+ V

2

x W

2

+ … + V

n

x W

n

) / (W

1

+ W

2

+ ... + W

n

)

Exponential smoothing:

A

n

= (V

n

x W

1

+ A

n-1

x W

2

) / (W

1

+ W

2

)

Interpolation

Linear interpolation: Find the value of ...