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-   -   Official Beacon Tracking Code Posted (http://www.chiefdelphi.com/forums/showthread.php?t=23742)

Kevin Watson 17-01-2004 13:42
Re: Official Beacon Tracking Code Posted
 
Quote:
Originally Posted by Krash
Kevin,
Is there a "Theory of Operation" or White paper available to explain how this all works?
Not yet. I need to find the time to complete it.


Quote:
Originally Posted by Krash
I am assuming that type-0 operates on one side of the field and type-1 operates on the other side. Is this correct?
Yes, this is correct.


Quote:
Originally Posted by Krash
Also, is the waveform chart on your website accurate? I assume that the pulse repetition interval's (PRI) are fixed as depicted on the chart.
Yes, the waveforms are accurate. The beacon flash rate is fixed at 100Hz.

-Kevin

Kevin Watson 17-01-2004 13:51
Re: Official Beacon Tracking Code Posted
 
Quote:
Originally Posted by Phil Roth
Kevin,
Thanks for the link explaining that the system uses BOTH beacons instead of ONE. I guess it finally clicked. I had trouble understanding how to manuever both directions ( left and right )using using a single "line of sight" source. My trig skills havn't been used in 20 years so I hope the students can help us out with triangulation.

I am still a little confused why 4 receiving LEDS are used and not 2, 1 for each beacon. ??

-Phil
No, actually the tracking software uses just one beacon for tracking. The type that it tracks is selected using a switch on digital I/O 7. We use four receiving sensors for speed and it simplified the tracking algorithm significantly (I'm still writing the theory of operation).

-Kevin

Atheist 17-01-2004 14:12
Re: Official Beacon Tracking Code Posted
 
What if both sensors are in view?

Kevin Watson 17-01-2004 14:26
Re: Official Beacon Tracking Code Posted
 
Quote:
Originally Posted by Atheist
What if both sensors are in view?
Assuming the tracking assembly is correctly constructed, it means the tracker is pointed at the beacon. If you really meant to ask what if both beacons are in view?, the system is designed to easilly handle this because the type-0 and type-1 beacons are never flashing at the same time (assuming both beacons are being driven by one EDU-RC).

-Kevin

Atheist 17-01-2004 14:30
Re: Official Beacon Tracking Code Posted
 
Heh, pretty early in the morning for me, ye I meant beacons not sensors. So if both beacons are in view, then the trackers would keep switching back and forth from one beacon to the other depending on which one is flashing???

Kevin Watson 17-01-2004 14:37
Re: Official Beacon Tracking Code Posted
 
Quote:
Originally Posted by Atheist
Heh, pretty early in the morning for me, ye I meant beacons not sensors. So if both beacons are in view, then the trackers would keep switching back and forth from one beacon to the other depending on which one is flashing???
No, the trackers will only track the beacon you want it to track (as selected by a switch on digital I/O 7).

-Kevin

Atheist 17-01-2004 14:48
Re: Official Beacon Tracking Code Posted
 
I see, thanks. Let see if I understand how the navigation code works:

The servos are constantly rotating attempting to follow the beacon. While this is happening the bot navigates to the beacon by moving in the direction that causes the angles with respect to the beacon and the trackers to become smaller? When the angle becomes small enough it assumes that it is in front of the beacon?

rosebud 23-01-2004 20:17
Re: Official Beacon Tracking Code Posted
 
hi kevin,
my team is having trouble downloading the navigation code onto our frc. our project builds fine, we can download other programs like beacon onto our edubot, so i dont think it is ifi loader or mplab, but when we download tracker or navigation the frc either crashes, doesnt get out of program state, or sends back a file called error.mcp that i think has address and hex op codes or something. do u know what is wrong? thanks
becca

electrical officer
115 monta vista high school

Kevin Watson 23-01-2004 20:58
Re: Official Beacon Tracking Code Posted
 
Quote:
Originally Posted by rosebud
hi kevin,
my team is having trouble downloading the navigation code onto our frc. our project builds fine, we can download other programs like beacon onto our edubot, so i dont think it is ifi loader or mplab, but when we download tracker or navigation the frc either crashes, doesnt get out of program state, or sends back a file called error.mcp that i think has address and hex op codes or something. do u know what is wrong? thanks
becca

electrical officer
115 monta vista high school
Can you successfully load the default code for the FRC-RC? I've also noticed that sometimes when you download code to the EDU-RC and FRC-RC, the transfer was successful but the program light stays on until you power cycle or reset the controller at which time the controller functions as expected. Have you tried that?

-Kevin

doy 23-01-2004 23:29
Re: Official Beacon Tracking Code Posted
 
Quote:
Originally Posted by Rickertsen2
Thanks. That scheme is relatively simple. Maybie if i find some time(not likley) i will post an alernative circuit, for those who do not wnat to use the edubot. This setup is easy to replicate using a handful of resistors, capacitors, and 555 timers.

Hmmm... I might have to look into the whole triangulation thing.
hey, did you ever get that circuit working?

danielkitchener 23-01-2004 23:46
AArgh...
 
Can anyone help out a confused person?
First, should we use 180-degree servos or 360-degree ones?
Second, minimum and maximum values for the servos are 0 and 254, respectively, right?
Third, is left servo position-127=right servo position, the beacon is centered, right?

rosebud 24-01-2004 16:17
Re: Official Beacon Tracking Code Posted
 
yes, we have successfully downloaded the frc default program. we have also tried to reset the controller, and when we do, the controller goes back into program state instead of running the program. has anyone else had this problem? i didnt change the navigation code before i downloaded it to the frc. thanks
becca

Guest 25-01-2004 18:28
Re: Official Beacon Tracking Code Posted
 
Quote:
Originally Posted by Kevin Watson
I've posted the official IR beacon and IR beacon tracking and navigation code that was used at the kick-off here: http://kevin.org/frc. The folks at IFI will also be posting the code on their website. If you have questions about the code, please leave 'em here and I'll try to keep up :ahh:.

-Kevin
Can you add this to the repository?

http://nrg.chaosnet.org/repository - You'll need to register

tml240 25-01-2004 20:03
Re: Official Beacon Tracking Code Posted
 
we uploaded beacon code on the edurobot and the navigate code on the FRC robot to test if the IR things work. we got the ir beacons and the receivers on the right spot....are those the codes that suppose to work together?

or how do we test the beacon?

Kevin Watson 25-01-2004 20:26
Re: Official Beacon Tracking Code Posted
 
Quote:
Originally Posted by tml240
we uploaded beacon code on the edurobot and the navigate code on the FRC robot to test if the IR things work. we got the ir beacons and the receivers on the right spot....are those the codes that suppose to work together?

or how do we test the beacon?
If all you want to do is test the beacon and trackers, load beacon.hex into the EDU-RC and tracker.hex (included in tracker.zip) into the FRC-RC. The code in navigate.zip assumes that it's running on a real 'bot.

-Kevin


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