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Unread 02-21-2006, 02:01 PM
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Innovations in Control

So, now that it's crated and shipped, what sort of cool new control systems have you guys developed?

Team 888:
2 Drivers-1 for picking up balls, 1 for shooting

Each driver has a customized handling configuration. Our ball-picker-upper driver has full speed, direct control of the motors with joysticks. Our shooter driver (me) has controls that improve small adjustments by controlling the rate of turning with a gyro instead of mapping joysticks to the drive motors.

Our feedback system includes voice recognition and synthesis to improve computer-to-driver interaction and a camera-view HUD (Heads Up Display).

The shooter-driver system also allows the driver use body position and range calculations to set the speed of our shooter without gyro or accelerometer sensors on the robot.

Sensor feedback on the robot will allow the bin system to detect the location of the balls and move them into position for firing. It can also detect if balls are getting jammed in the bin and can automatically activate the unjammer.

Please contact Team 888 or stop by our pit at Pittsburg, Annapolis, and Nationals.
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Unread 02-21-2006, 02:07 PM
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Re: Innovations in Control

The camera-view HUD, is that sending video? If it is, that's not legal.

We have a fully automatic ranging and targeting system; I rewrote the camera handlers to speed everything up drastically.

We had an automated ball-finding vision system, but I couldn't use it because auto mode is so short

I wrote a dashboard that displays a lot of information on the status of the autonomous systems on the robot, and is incorporated into our control panel.

The second driver's job at this point is to babysit the automation, and take over in case of catastrophic failure.

Sine we have dual shooters, they are staggered in software using switches on the firing paddles.
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Unread 02-21-2006, 02:33 PM
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Re: Innovations in Control

1293 is sticking with the tried-and-true two-drivers, two-joysticks technique. It works for us.

Then again, this year we are improving on our controls method in other areas. How so? All will be revealed in due time...
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Unread 02-21-2006, 03:10 PM
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Re: Innovations in Control

our 2 axis shooter gimbal is aimed autonomously using the CMU cam. The manipulator driver just presses the fire button. Of course, there is manual override.
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Unread 02-21-2006, 04:20 PM
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Re: Innovations in Control

2 drivers, 3 joysticks, and a random glowing red button which when put sunglasses over, prompts freshmen to sing "rudolph the red nosed reindeer".

Don't ask.

As for the bot, you'll have to wait till the vid or pic is released to see.
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Unread 02-21-2006, 05:12 PM
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Re: Innovations in Control

2 drivers 4 joysticks . .

stick 1: tank left(trigger halfs the speed for fine control)
stick 2: tank right(triger halfs the speed for fine controll)


stick 3: opperates the turret(triger does an auto lock, x axis allows for the operator to controll manualy, hat allows for manual controll of the camera)

stick 4: opperates the cannon(triger fires, thumb sets the speed to what the code tells you the speed should be at your distance, aux 1 turns the speed down, aux 2 turns the speed up, and when you take the y axis all the way to 0 it turns the canon off.)

the dashboard shows the speeds of the 2 drive moters(well pwm value really) weather the camera can see the target, weather the turret is locked, what the speed of the cannon i if your on offence or defence

while it seams complicated its actuly very intuitive . . most things on there are for manual overrides
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Unread 02-21-2006, 05:18 PM
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Re: Innovations in Control

No the camera view is not sending any extra video other than the data that is transmitted over the serial port and through the dashboard
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Unread 02-21-2006, 05:26 PM
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Re: Innovations in Control

Succesful goal tracking and scoring in Auto mode.
Custom PCB for LCD Display Panel and Vocal feedback to the subsystems operator.
Our OI Talks
Cool beans
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Unread 02-21-2006, 05:33 PM
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Re: Innovations in Control

ohh forgot the coolest thing . . during auto mode our dashboard shows a "startup sequence" eather the "Evangelion" active links start, or the "Big-O" ye not guilty start . . depending on the auto mode/mood we are in.
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Unread 02-21-2006, 06:30 PM
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Re: Innovations in Control

Quote:
Originally Posted by Sachiel7
Succesful goal tracking and scoring in Auto mode.
Custom PCB for LCD Display Panel and Vocal feedback to the subsystems operator.
Our OI Talks
Cool beans
What sort of stuff do you have on the PCB? and is your vocal feedback software based or a record playing chip?
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Unread 02-21-2006, 07:27 PM
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Re: Innovations in Control

Our PCB is more of a mainboard that hosts a 4x20 LCD panel and the Emic Text to Speech Module, being run off a BS2 microcontroller.

http://www.parallax.com/detail.asp?product_id=30006

And I've attached a snapshot of our PCB.
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Unread 02-21-2006, 07:40 PM
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Re: Innovations in Control

862 will have two drivers using two unmodified PS2 controllers, of course those are hooked up to our PS2 / OI Adapter

Driver has control of the tank steering and the ball intake and output functions

Copiolet has control of the shooter and the feeders to and from the shooter, as well as the auto aim

Check it out at Great Lakes , Wisconsin, and the Championship
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Unread 02-21-2006, 08:27 PM
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Re: Innovations in Control

2 drivers, one drives, the other shoots and runs the rollers to pick up balls

We have a two stick drive.

A laptop with a dashboard program that shows us how fast the launch wheel is spinning, our battery voltage, the gear we are in (displayed by an 8-bit rabbit and an 8-bit turtle), and a crosshair so the camera doesn't have to do all of the aiming.
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Unread 02-22-2006, 08:17 AM
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Re: Innovations in Control

Our team doesn't have very much in the way of driver inovations just a dual tank style joystick drive for the primary and a custom switchblock for the secondary driver to power the roller, "jock strap" and "Drop it Like its Hot" systems
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Unread 03-02-2006, 03:18 PM
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Re: Innovations in Control

Sounds like alot of teams are trying out new techniques with their control systems. Good luck to all and I hope you can get 2nd place at nationals (cause team 888 and our partners are obviously gonna pwn).
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