Chief Delphi - Share you Autonomous

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- - Share you Autonomous (http://www.chiefdelphi.com/forums/showthread.php?t=129256)

Bpk9p4

01-05-2014 10:55

Share you Autonomous

I am looking at working with are students this off-season to better off are autonomous skills. I was wondering if any teams would care to share there labview autonomous code so that we could learn from it.

Currently we only know of two ways of doing autonomous
1) Hard code
2) Playback recorded data

are there any other methods people know off?

Tom Line

01-05-2014 11:34

Re: Share you Autonomous

Quote:

Originally Posted by Bpk9p4 (Post 1381462)

A scripted system using some type of text files that are read into the cRIO on command and then sequentially executed is fairly common.

Bpk9p4

01-05-2014 13:09

Re: Share you Autonomous

I looked at doing this but it seems like it would be hard to do 2 things at once. Is there a way around this

adciv

01-05-2014 15:36

Re: Share you Autonomous

State Machine? Although that may count as "hard code" to you. We'll be posting this years code at some point. Our two-ball auto involved roughly 25 steps due to a variety of things (it's being reprogrammed to be simpler). Our one ball was four steps, but also involved communicating with an additional statemachine (which also runs during Tele) for opperation.

Bpk9p4

01-05-2014 15:51

Re: Share you Autonomous

We have done state machine in the past and it works well. Are biggest problem right now is that we hard code it so it is not very easy to change on the fly. I am wanting to find a way to rapidly produce autonomous and change it easily

marccenter

01-05-2014 15:53

Re: Share you Autonomous

1 Attachment(s)

Here's FRC3548 autonomous and teleop program (w/o Camera) in Labview.

The autonomous program is very brute force using simple timers to actuate motor speed and throwing arm commands but it works, we shot 9 out of 11, 10 pointer's at MSC!

adciv

01-05-2014 15:56

Re: Share you Autonomous

We're working on recoding the robot using behaviors (and will hopefully do this from the start next year). This should make it easier for us.Basically, we are coding a VI to control our intake and another to control the catapult. We'll then use these in a state machine or autonomous to control the robot. Similar things for the drive system. Basically, these are the equivalent of C++ function calls for controlling the subsystems. This would help you in building it faster.

As for changing it easily, what exactly do you mean? I can think of a few things we do, but I don't know what you have in mind.

Toa Circuit

01-05-2014 16:01

Re: Share you Autonomous

Scripted autonomous is fairly... interesting.
4213 'used' it this year, but left it as the same script. We searched the cRIO root directory for the first '.auton' file, and then execute through that via state machines. Our basic structure is a bunch of <subsystem> <state> or <wait> <subsystem>. To wait for multiple subsystems, wait multiple times.

Script looks like this:

Code:

drivetrain 0.5 0 0 1 //0.5 Y, 0 X, 0 W, 1 second

catapult winched

sides deploy 3

wait drivetrain

wait catapult

wait sides

catapult fired

So this way, we know the 'bot is trying to achieve certain states. Understandable code that allows for 'parallelism' without actually using separate threads. ;)

I'll see if I can find the source code. I think it got diked/subverted/buried.

We use state machines... a lot. I highly recommend you learn how to use and implement a state machine if you don't already. It makes coding so much easier.

notmattlythgoe

01-05-2014 16:03

Re: Share you Autonomous

What language are you using?

For the command based system, writing reusable commands that take in real world parameters and using them in a command group can give you a quick way to write new autonomous routines in the fly. Below is an example:

Code:

addSequential(new DriveStraightCommand(0.85, 60));

addSequential(new TurnToDegreeCommand(0.5, 45));

addSequential(new DriveStraightCommand(0.85, 24));

The above would drive forward at 85% power for 60 inches, then turn 45 degrees at 50% power, then drive forward for another 24 inches at 85% power.

If you have tested these commands out extensively you should know the robot will do exactly that the first time you run it.

cjl2625

01-05-2014 16:13

Re: Share you Autonomous

To switch between auto modes, we have a dropdown menu on the dashboard. Some specific aspects of it are on other controls, like move forward time, which is on a slider.
The drop down menu selection is sent to a state machine.
For the programming of it, I package all complex functions (like a timer function, shooter sequence, and swerve drive) into sub-vi's, which makes new auto modes pretty easy to produce, though I guess it still counts as hard coded.

baumgartensam

02-05-2014 02:42

Re: Share you Autonomous

One other method for doing autonomous is using machine learning-ish concepts. One thing we have thought about doing is having scouts in the stands recording if our robot makes shots and then using that information to find positions on the field that are viable to shoot from (using accelerometer and gyro). We then could import that information after each match and the robot could recalculate an autonomous path. I have written some code to do this and it worked quite nicely; however, we didn't get a chance to use it at comps.

SoftwareBug2.0

02-05-2014 03:45

Re: Share you Autonomous

Quote:

Originally Posted by Toa Circuit (Post 1381610)

Our basic structure is a bunch of <subsystem> <state> or <wait> <subsystem>. To wait for multiple subsystems, wait multiple times.

Script looks like this:

Code:

drivetrain 0.5 0 0 1 //0.5 Y, 0 X, 0 W, 1 second

catapult winched

sides deploy 3

wait drivetrain

wait catapult

wait sides

catapult fired

Quote:

Originally Posted by notmattlythgoe (Post 1381611)

Code:

addSequential(new DriveStraightCommand(0.85, 60));

addSequential(new TurnToDegreeCommand(0.5, 45));

addSequential(new DriveStraightCommand(0.85, 24));

Do either of these methods allow non-linear steps? What happens in case of failure? Surely it's possible that a robot could fail to drive some distance.

Our autonomous modes were DAGs that would not only do different things but intentionally leave the robot in different states for the driver depending on what happened during autonomous.

notmattlythgoe

02-05-2014 06:23

Re: Share you Autonomous

Quote:

Originally Posted by SoftwareBug2.0 (Post 1381800)

With some forethought you can create some pretty interesting command groups. And yes you can account for failures. When you add any of the commands you can add timeouts to them. Of course, depending on what has failed to complete could effect if your auto mode is successful or not. Sometimes you might want the robot to not finish the auto mode if one step has failed.

Here is an example of non linear steps.

Code:

addSequential(new DriveStraightCommand(0.85, 60));

addSequential(new TurnToDegreeCommand(0.5, 45));

addSequential(new MoveAndShootCommand());

addSequential(new new TurnToDegreeCommand(0.5, -45));

MoveAndShootCommand:

Code:

DriveStraightCommand driveCommand = new DriveStraightCommand(0.85, 120);

addSequential(driveCommand);

addParallel(new WaitForDistanceCommand(40, driveCommand));

addSequential(new ShootCommand());

addParallel(new WaitForDistanceCommand(60, driveCommand));

addSequential(new ShootCommand());

addParallel(new WaitForDistanceCommand(80, driveCommand));

addSequential(new ShootCommand());

The DriveStraightCommand implements an interface called IProvidesCurrentDistance which will return the distance the command has currently moved. Using this interface you can pass the running command in to other commands and have access to the distance moved at a given time. The MoveAdnShootCommand will start the robot moving, then once it has reached 20, 40, and 60 inches will run a shoot command. The final TurnToDegreeCommand will run once the MoveAndShootCommand has finished.

tr6scott

02-05-2014 09:37

Re: Share you Autonomous

Please check out this paper written by apalrd on beescript.

http://www.chiefdelphi.com/media/papers/2497

We implemented this a few years ago, and love the flexibility of beescript.

Our two ball script looks like this:

Code:

#Two Ball Autonomous



SET_ROLLER_SPEED 75



WAIT 100



ARM_MOVE 1



WAIT 300



SET_ROLLER_SPEED 25



WAIT 300



SET_ROLLER_SPEED 52



DRIVE_STRAIGHT 84 6000



SET_ROLLER_SPEED 0



WAIT 250



SHOOT



WAIT 250



SET_ROLLER_SPEED 90



WAIT 1550



SHOOT



STOP_ALL

Our drive straight command drives at 75% motor power, and has a gyro P loop to adjust motor powers so you actually drive straight. The first argument of the drive strait is the inches of travel by encoder counts. The second argument in the drive straight command is a timer override, so after 6 seconds, it will close and go to the shoot command.

We will be making public our github project in the next few weeks, after they clean up the commits from championship.

Bpk9p4

02-05-2014 11:22

Re: Share you Autonomous

I really like this idea. The only problem i see with it is you can only do one command at a time. have you found a way to get around this problem?

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