Image Discuss: Team 190 "INS"
 

Looks cool!

What exactly does it do?

You don't line track, you don't dead recog. You don't jump over the wall and you don't use electronics to determine where you are relative to the ramp. So how the heck does this work? :confused:

were you using that at the UTC scrim?

No, the system was not available during the scrimmmage.

did you develop it in between, or did you have it made, but never put it on?

Well, WPI has been an active FIRST participant for the past 12 years...


Nah, just kidding; it's been our plan from the start of our brainstorming. :yikes:

There are two ways you could do this, that i see.

One, ultra sonic sensors

Two, built a virtual court and used motor rotations to determine change and rate of change of position.





Somehow I doubt you did number 2. So what did u do?

It's part of their CVT device...
It clocks the velocities of those via IR wheel and uses that input to determine robot postition.

Jeez guys, they showed it off enough last year... Doesn't anyone remember it?

It's nice to know you finally got it working.

Well it's nice to know that you know how our CVTs work (afterall, we are in this thing not only to design great robots but also to teach and inspire :) ).

But sadly enough, that box there has nothing to do with CVTs, mainly because there are currently no CVTs on the robot. :eek: But concerning those CVTs from last year, we did get "that thing finally working" for next-gen CVTs. :D

I'm pretty sure they are using inertial sensors (i.e. an accelerometer) and integrating the value they receive to calculate their position. This would allow you to get quite accurate results, better than encoders, since the accelerometers can pick up wheel slippage and shoving.

I'm quite interested in knowing how you account for overall "drift" in the system... (?)

:: Nik

I'm pretty sure they are using inertial sensors (i.e. an accelerometer) and integrating the value they receive to calculate their position. This would allow you to get quite accurate results, better than encoders, since the accelerometers can pick up wheel slippage and shoving.

I'm quite interested in knowing how you account for overall "drift" in the system... (?)

:: Nik

Military has used inertial guidance systems in the past. Subs used them to navigate under the ice caps and in deep water, before the days of GPS. ICBMs used them to. The only problem is they slowly lose accuracy. They would also have to put the robot in the exact same orientation each time so it would know where to start. I doubt it would be very acurate after a hard hit because most accelerometers only work to a certain point.

A good point!

The system may end up having some drift but I'll bet that those 190 folks have their act together when it comes to the overall package.

They've been building 'bots in Worcester for a whole lot longer than many teams have been around and experience ALWAYS helps......

Team #311 won't be competing against them at any of the Regionals...but we'll see you at Nats (again) and maybe even at BattleCry4.......

Hey Chris.....tell Matt C. I said Hi!

Don't worry, we'll make sure he gets the message....btw, how you doing Brian?