Team 423 Source Code
 

As our robot code approaches its zenith, I wanted to share it with the Chief Delphi community for people to learn from, possibly to get suggestions, and to show the world how Simple Machines works. Any questions or comments are not only accepted, but welcomed.

https://www.dropbox.com/sh/ock70bamd...aT1Z3ZTOa?dl=0

Re: Team 423 Source Code
 

Looks nice.

I'm curious if you had any success with the joystick recorder and playback?

Greg McKaskle

Re: Team 423 Source Code
 

We were able to get it working and it worked consistently in our tests, even going over the step without gyroscopic or accelerometer stabilization. We are a small team, so we don't have a practice field to actually record the autonomous routines. We came up with the recording idea in the post season, and we were planning on recording the routines at MidKnight Mayhem yesterday, but there was no practice field there. Hopefully we will be able to fully implement it at our next post season event.

We particularly liked the idea because our robot turns to the right when driving straight and strafes weirdly because of weight difference on the mecanum wheels. By recording the human inputs, the driver could automatically correct for that turn like he does in competition.

Re: Team 423 Source Code
 

I hope it works for you but I'd be a bit surprised if it works as well as you are expecting.

Especially for a mec robot that's not driving straight or strafing properly, even if you repeat the driver commands exactly there are a host of random factors can cause a large discrepancy in the end result.

Please let us know how it works out.


a few examples: battery state-of-charge and internal resistance, motor temperature, drivetrain friction

Re: Team 423 Source Code
 

I was able to record an obstacle course on a test bot (this one does drive straight) and it replayed it multiple times on different days with different batteries. I assumed this was a good sign as to its repeatability, but it's possible it won't work as well on the real robot. Obviously it won't be as accurate as a gyro and accelerometer stabilized autonomous, but for what we do (push bin and tote forward into auto zone and turn) it looks to be reliable.

Re: Team 423 Source Code
 

I have never been to an offseason event with a practice field before. Most don't bother, because at this point most teams aren't looking to scramble to a practice field between matches for driver practice, autonomous tuning, etc. I would reccomend trying to find a team nearby that has a practice field still set up. You will find that teams which have that resource are pretty much always more than happy to share it.