Chief Delphi - 2 days to go how is Autonomous going?

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- - 2 days to go how is Autonomous going? (http://www.chiefdelphi.com/forums/showthread.php?t=18031)

What we did was while design worked hard on our design, I got 2 or 3 guys together and made last year's robot do kinda what this years bot will be doing. We then took this and found out flaws in our design, found better, more efficient and faster methods of working as well as gave us the ability to have different codes designed (such as stack tracking) that can be used if we add and setup the sensors. I have a few different little autonomous codes so we can swap codes to counteract what scouting data brings us.

One last thing, with your dead reckoning codes, be careful! I realized very well that over time those numbers WILL change. The drive system is gonna change after running a bit, as things wear in and hardware changes. Also I'd really suggest using the delta_t counter and add it in to your counter since sometimes that RC can be crazy and lose loops like mad. It keeps it so you have your times closer. That's my 2 cents though. Good luck programmers. If you guys got that autonomous running well, great job cause you deserve it.

Are code is done we got the auton code working it does perfect 90's everytime not matter about wheel slip or battery it works everytime.

could you give me an example of how delta_t would be used? I'm interested in how this could be utilized in my own counter.

Quote:

Originally posted by rbayer
I've got a program written, but our robot still doesn't drive so I can't test it. I'll be lucky to get 15mins with the robot before we ship...

15 minutes? we should be so lucky.

Quote:

Originally posted by TOHSlancer
could you give me an example of how delta_t would be used? I'm interested in how this could be utilized in my own counter.

really easy. make sure delta_t is setup in your code like in the default code and use this for your counter...

counter = counter + 1 + delta_t

Yah, 15 minutes sounds about right. The problem being I have never programed in pbasic before and have no idea if our auto code even works!

***sigh*** what I wouldn't give for fractions and inverse trig functions..........

I've talked to several teams, and none of them got line following working with just 3 sensors. One used 5 sensors and has it working, and the rest of us are using dead reckoning.

edit: do a search on delta_t. I know I've explained it several times, and I know others have as well.

Hey, errrm there's a robot emulator out there. go to the innovation first website. It's a good way to test if your code is messed up or not. Can't really predict turning and stuff because that's all based on your robot, but it helps.

Oh really? Nobody got their working on 3 sensors? Ours works decently. I just did some testing on carpeting last night.
We just had to space the sensors right, and coding wise I did some stuff that works pretty well. 5 sensors would've been nice to work with tho. Man. Right now I just gotta tweak code so that it doesn't just turn right when it hits the top of the ramp.

example:

Code:



do_autonomous_stuff:





' sensor1 sensor2 sensor3

course3 = 0

if (sensor1>127) then too_left

if (sensor3>127) then too_right

'straight on line

drive_L =145

drive_R = 145

course2 = 3

course = 1

goto perfect





'===================================

'===================================

'===========Too left===============

'===================================

too_left:

'===========================

'--------Semi Off ----------

'============================



if (sensor2>127) then drive_R = 113        

if (sensor2>127) then drive_L = 155



'checks to see if swinging back 

if (sensor2>127) and course2 = 1 then course3 = 1



'sets course status

if (sensor2>127) then course2 = 0



'======================

'-------Way Off--------

'=======================

if (sensor2<=127) then drive_R = 103

if (sensor2<=127) then drive_L = 155



'checks to see if swinging further

if (sensor2<=127) and course2 = 0 then course3 = 2



'sets course status

if (sensor2<=127) then course2 = 1



'adaptable course timer

if (course < 170) then course = (course +1)

if (course = 171) then course = 171



'checks previous sensor status and adjusts accordingly

if (sensor2>127) and course3 = 1 then course = (course - 90)

if (sensor2<=127) and course3 = 2 then course = ( course - 70)



'adjusts motor values

if (course >= 39) then drive_R = (drive_R - ((course - 39)/10))

if (course >= 39) then drive_L = (drive_L + ((course - 39)/12))

goto perfect









'===================================

'===================================

'===========Too Right===============

'===================================

too_right:

'===========================

'--------Semi Off ----------

'============================



if (sensor2>127) then drive_L = 113        

if (sensor2>127) then drive_R = 155



'checks to see if swinging back 

if (sensor2>127) and course2 = 1 then course3 = 1



'sets course status

if (sensor2>127) then course2 = 0



'======================

'-------Way Off--------

'=======================

if (sensor2<=127) then drive_L = 103

if (sensor2<=127) then drive_R = 155



'checks to see if swinging further

if (sensor2<=127) and course2 = 0 then course3 = 2



'sets course status

if (sensor2<=127) then course2 = 1



'adaptable course timer

if (course < 170) then course = (course +1)

if (course = 171) then course = 171



'checks previous sensor status and adjusts accordingly

if (sensor2>127) and course3 = 1 then course = (course - 90)

if (sensor2<=127) and course3 = 2 then course = ( course - 70)



'adjusts motor values

if (course >= 39) then drive_L = (drive_L - ((course - 39)/10))

if (course >= 39) then drive_R = (drive_R + ((course - 39)/12))

goto perfect







perfect:



'sensor check

if sensor1 > 127 then out10 = 1

if sensor1 <= 127 then out10 = 0

    

if sensor2 > 127 then out11 = 1

if sensor2 <= 127 then out11 = 0



if sensor3 >127 then out12 = 1

if sensor3 <= 127 then out12 = 0



'course check

if (course > 1) then out13 = 1

if (course = 1) then out13 = 0

HALLELUYAH!!! Praise be the the powers that be, we have an extension!! We were almost considering not telling our Mech E team so we had more time to test programing :p I say programers unite and we take control of the bots for a change. Wadda ya all think?

extension wu? Well I am the driver as well as programmer. *chuckles* GTA 3 skillz baby! Not really.. but extension? time to head over to first website

Quote:

Originally posted by TOHSlancer
Oh really? Nobody got their working on 3 sensors? Ours works decently. I just did some testing on carpeting last night.
We just had to space the sensors right, and coding wise I did some stuff that works pretty well. 5 sensors would've been nice to work with tho. Man. Right now I just gotta tweak code so that it doesn't just turn right when it hits the top of the ramp.

I shouldn't say not working, but not working quickly. With the code you have, you aren't going very fast. The teams I talked to all decided that speed was more important then the coolness of linefollowing.

bah our programmers have to much time with the bot and havn't given our drivers enough time to p ractice.. today our sponsors company is working and only allowed 2 team members to work on the the bot during work hourse ( like 7-3 ) so the programmers forced their way in there and have been running autonmous programs all day, I have to sit here and wait until finally at about 2:30 I can get up there and start playing around and getting better at this driving buisness

Quote:

Originally posted by Joe Ross
I shouldn't say not working, but not working quickly. With the code you have, you aren't going very fast. The teams I talked to all decided that speed was more important then the coolness of linefollowing.

Very very true. I'm actually doing autonomous dead reckoning as we speak. Problem is I'm worred about the battery running low and that fudging up how much it turns... etc. etc. I wish I had time to install the gyro and learn how to use it. Grrrr.

Our code is coming along but was set back a few days ago when our yaw rate chip decided that it didn't want to work anymore setting us back about 3 days... but we are getting by...

we are doing some crazy stuff that should be cool if it gets done...hopefully we can get enough time in to play with it while still letting the drivers practice.

hehe.. our team is lucky... the driver is our other programmer .. although she doesn't really do much programming.. but no competition for driving times!

.. they wont let me drive cuz im way too agressive.. you should have seen the mentors faces when i was doing "quality control" (involving running the robot in high gear straight into a cement wall multiple times).. hehe:D