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-   -   1310 3 Tote 3 Container Autonomous (http://www.chiefdelphi.com/forums/showthread.php?t=135454)

Gregor 04-03-2015 12:16

1310 3 Tote 3 Container Autonomous
 
Check out our 28 point autonomous mode.

http://youtu.be/3Dr3RUdPMGE

who716 04-03-2015 12:17

Re: 1310 3 Tote 3 Container Autonomous
 
that is absolutely awesome so simple but yet so affective

Jay Meldrum 04-03-2015 12:19

Re: 1310 3 Tote 3 Container Autonomous
 
Well done! So simple!

notmattlythgoe 04-03-2015 12:20

Re: 1310 3 Tote 3 Container Autonomous
 
I. Love. This.

dodar 04-03-2015 12:21

Re: 1310 3 Tote 3 Container Autonomous
 
Very cool autonomous. Might have to tune it to keep the Bins in the zone but that should be easy for you guys

dradel 04-03-2015 12:25

Very cool auto!! Was surprised how many teams at Waterbury didn't even have an auto program. That will be a very desirable robot!!!

lynca 04-03-2015 12:25

Re: 1310 3 Tote 3 Container Autonomous
 
Excellent stuff Gregor & team 1310

Once again another reason to watch GTR Central !

Jacob Bendicksen 04-03-2015 12:26

Re: 1310 3 Tote 3 Container Autonomous
 
This is fantastic. Love the thinking - you don't have to shove the RCs aside or lift them up!

hunterteam3476 04-03-2015 12:28

Re: 1310 3 Tote 3 Container Autonomous
 
looking really good 1310!

Andrew Lawrence 04-03-2015 12:40

Re: 1310 3 Tote 3 Container Autonomous
 
I've got to say, Gregor - yesterday 1114 unveiled Simbot Sideswipe...and this is still my favorite robot out of Canada so far. We'll be cheering for y'all down in California this weekend for sure.

Mr. Lim 04-03-2015 12:42

Re: 1310 3 Tote 3 Container Autonomous
 
Hello FRCTop25.com

dipmeinaluminum 04-03-2015 12:47

Re: 1310 3 Tote 3 Container Autonomous
 
:eek: :eek: :eek:
speechless.

ice.berg 04-03-2015 12:48

Re: 1310 3 Tote 3 Container Autonomous
 
YESSS more robots that actually do something for auto!

Simple and effective design, Big thumbs up!

JamieKilburn 04-03-2015 12:50

Re: 1310 3 Tote 3 Container Autonomous
 
Wow, that's really, really effective. Nice Job!

bkahl 04-03-2015 13:12

Re: 1310 3 Tote 3 Container Autonomous
 
The arm that pops down is less than the robots length, and the third RC seems to "fall out" towards the end.

How consistent is that third RC?

MrJohnston 04-03-2015 13:52

Re: 1310 3 Tote 3 Container Autonomous
 
This is actually our natural next step with autonomous - performed just like yours.... We won't have it ready for this weekend, but it may come up as an addition later. I'd be curious:

How consistently are you able to reel in the RC's as well as the totes?

The addition of dragging the RC's almost certainly affects the needed code to help the robot to maintain a proper path. Did that addition affect your consistency with the totes?

blazingbronco18 04-03-2015 16:27

Re: 1310 3 Tote 3 Container Autonomous
 
Very amazing. Great job guys. Good luck this season.

Gregor 04-03-2015 20:34

Re: 1310 3 Tote 3 Container Autonomous
 
Quote:

Originally Posted by MrJohnston (Post 1453424)
This is actually our natural next step with autonomous - performed just like yours.... We won't have it ready for this weekend, but it may come up as an addition later. I'd be curious:

How consistently are you able to reel in the RC's as well as the totes?

The addition of dragging the RC's almost certainly affects the needed code to help the robot to maintain a proper path. Did that addition affect your consistency with the totes?

The three totes and the first two containers are relatively consistent. The third container can definietly use some work, but we also have an autonomous that just does 3 tote 2 container that we can run in the event an alliance partner can bring a tote in.

I'm not much of a programmer but here's what I understand. We're using distance, angle, and angle lock (maintain angle even through uneven weight distribution and container drag) PIDs to compensate for the dragging RCs.

wireties 04-03-2015 20:48

Re: 1310 3 Tote 3 Container Autonomous
 
crazy clever!

Gregor 05-03-2015 00:36

Re: 1310 3 Tote 3 Container Autonomous
 
Here's a GoPro of our 2 container.

http://youtu.be/qES7Elnn8e0

JohnFogarty 05-03-2015 03:01

Re: 1310 3 Tote 3 Container Autonomous
 
One of our other software mentors and I have been talking about doing an auto mode that is pretty much exactly what you've done here the exact same way since day 1 of build season. If only we had the sensors and time to get it done ourselves. Very nice work.

Jonathan Norris 05-03-2015 12:23

Re: 1310 3 Tote 3 Container Autonomous
 
Quote:

Originally Posted by Gregor (Post 1453701)
The three totes and the first two containers are relatively consistent. The third container can definietly use some work, but we also have an autonomous that just does 3 tote 2 container that we can run in the event an alliance partner can bring a tote in.

I'm not much of a programmer but here's what I understand. We're using distance, angle, and angle lock (maintain angle even through uneven weight distribution and container drag) PIDs to compensate for the dragging RCs.

Great robot 1310. The Einstein mechanum curse has no chance :p

Couple ideas for auton: you could try driving more towards the wall and use the wall to help you pin the 3rd bin in, or have a longer side arm to allow the bins to "stack" a bit (though they may be more prone to tipping over)

Jared Russell 05-03-2015 12:49

Re: 1310 3 Tote 3 Container Autonomous
 
I anticipate this idea being copied by many other teams...a stupidly simple and effective way to pull off a 3 can/3 tote auto!

jvriezen 05-03-2015 13:11

Re: 1310 3 Tote 3 Container Autonomous
 
Team 2512 has a three tote stack, 2 bin auto as well, that was quite successful at Northern Lights, although it seemed to be less so Saturday afternoon.

It had a simple drive straight to gather totes approach. Bins were 'fished' up just in time with lines attached to very small aluminum hooks that were positioned on the far side of the first two bins, just under the bin lip. The hooks were held there by lightweight 'stanchions' made of styrofoam bases and vertical pool noodles.

One fishing line originated high on the left side of the bot, the other high on the right.

Auto reeled the RCs in 'just in time' and they dangled at the sides of the bot until the beginning of teleop, when the fishing line was let out to drop the bins and then reeled back to pull up the stanchions without bins.

Not sure why they didn't pull in the third bin as well.. maybe they figured a partner would be able to handle it in most cases (which wasn't the case-- other bots typically disabled their auto when playing with them.)

Sorry, no video link... I'm sure there is one somewhere. And this video at 1:00 is NOT it: https://www.youtube.com/watch?v=85QW3h27lBQ

allgoodthehood 14-03-2015 12:57

Re: 1310 3 Tote 3 Container Autonomous
 
Quote:

Originally Posted by jvriezen (Post 1453999)
Sorry, no video link... I'm sure there is one somewhere. And this video at 1:00 is NOT it: https://www.youtube.com/watch?v=85QW3h27lBQ

Here's a link :]

http://youtu.be/K9Z8eQzYMYY?t=2m15s


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