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View Full Version : Would you like some high goal with your fries? [Team 2052 Cheval De Frise Auto]

TheMilkman01
03-04-2016, 15:56
Team 2052 KnightKrawler here! We got our autonomous working, where the robot goes over the Cheval de Frise and proceeds to make a shot in the high goal using vision processing. Here's the link for it in action. (https://www.youtube.com/watch?v=LXx9aKnnKhc)
Sperkowsky
03-04-2016, 15:59
Woah that's very nice.

Also off topic has anyone noticed the new full screen YouTube android feature with portrait videos? It makes me hate them much less.
ollien
03-04-2016, 17:01
Nice! I'm quite curious as to how you got the robot to know when you approached the Cheval. Was that vision code or just timing?

Woah that's very nice.

Also off topic has anyone noticed the new full screen YouTube android feature with portrait videos? It makes me hate them much less.

I haven't been able to get them to work outside of that little preview box on the bottom right.
wlaroche
03-04-2016, 17:14
Team 2052 KnightKrawler here! We got our autonomous working, where the robot goes over the Cheval de Frise and proceeds to make a shot in the high goal using vision processing. Here's the link for it in action. (https://www.youtube.com/watch?v=LXx9aKnnKhc)

Very nice work, now for the hard part of getting the competition robot to do the same thing on Thursday.
Adam8234
03-04-2016, 17:45
Nice! I'm quite curious as to how you got the robot to know when you approached the Cheval. Was that vision code or just timing?.

Thank you :D We have various control loops for driving. We currently have 3 different control loops that can do the following. Turn X degrees, drive straight for X amount, and follow a path generated on a laptop. This video shows all three.

To answer your question, we don't time anything in our code, we tell it to drive a certain amount then do the thing in our code.
LordAnimal4
03-04-2016, 21:15
Thank you :D We have various control loops for driving. We currently have 3 different control loops that can do the following. Turn X degrees, drive straight for X amount, and follow a path generated on a laptop. This video shows all three.

To answer your question, we don't time anything in our code, we tell it to drive a certain amount then do the thing in our code.

You guys trying to imitate 254 with dem curve motions?
TheMilkman01
03-04-2016, 22:17
You guys trying to imitate 254 with dem curve motions?

The real question: who doesn't want to be like the Cheesy Poofs?
ranlevinstein
19-07-2016, 07:26
Thank you :D We have various control loops for driving. We currently have 3 different control loops that can do the following. Turn X degrees, drive straight for X amount, and follow a path generated on a laptop. This video shows all three.

To answer your question, we don't time anything in our code, we tell it to drive a certain amount then do the thing in our code.

This is a really nice auto!
I have a couple of questions:
Did you generate the trajectories the same way 254 did? Are you also following them the same way?
How did you tune the Ka and Kv parameters in your feed forward? How much time did it take?