Re: What do you do during autonomous mode?
 

Blast! Twice as many programs as us! :cool:

Aren't you running out of program space? I just ran out yesterday...and I only have four programs implemented (they run for both sides though).

Re: What do you do during autonomous mode?
 

We didn't have time to finish making/mounting/programming our tracking sensors before shipping our robot. So our autonomous modes are just using ded. reckoning, applying power to the motors for specified amounts of time. They work great in testing, and performed well in our first two qualifying matches, knocking off the bonus ball in one, and barely missing it in the next because we were actually a little too close to it. Unfortunately, we were plagued by gremlins after that. A mysteriously missing motor fuse, a disconnected PWM cable, a bit of undercarriage apparently dragging on the carpet...all conspiring in turn to keep us from going in a straight line.

We've added wheel sensors to try to compensate for any drift, and the programming was ready to test by the end of the Great Lakes Regional. A bit of work in Chicago with a black marker on our wheels and it'll be good to go.

Re: What do you do during autonomous mode?
 

I pray it works...

Re: What do you do during autonomous mode?
 

Our regional is over (Orlando) but our auto ended up being go straight ahead. We didn't get the IR sensors so that was out, and we couldn't quite anticipate where the other bots would be. Because of all this, we ended up driving forward next to the 10pt balls.

Btw this is my first year here at First. Can't wait to be the only programmer on 710 next year :confused:

Re: What do you do during autonomous mode?
 

Already am.

Re: What do you do during autonomous mode?
 

We have two autonomous modes.

1) Knock the T-Ball off.
2) Push Goal



Both of our autonomous codes work, but we are going to improve upon them. It seems like alot of teams don't have an autonomous, or they dead wrec, but with little power.

Re: What do you do during autonomous mode?
 

we put our right wheel on
we turn our right wheel off
we put our right wheel on
and we shake it all about!

Our auton mode heads for the 10 point ball, looking for the IR beacon with stationary sensors off to the side

and using a yaw rate sensor to hold our course steady as she goes

when we see the beacon we back up, drop our arm to the height of the 10 point ball, turn towards it 90° and move forwards at 1/3 impulse for 2 seconds

this knocks the ball off the tee, we then backup, turn 90° towards the drivers station, turn our front roller on to pick up balls in our collector

and move forwards at full speed till auton mode ends - we end up around the stationary goal

by the end of friday at our last regional our auton was getting the release ball 100%.

we havent actaully picked up any small balls from the floor (by blindly driving into them in auton mode) but the odds are sooner or later we will get at least one

but our bot is pointing towards those 18 balls scattered all over the field when the drivers take over.

Re: What do you do during autonomous mode?
 

Seeings how nobody else has said it yet, and I've yet to see another team attempt at it.....in autonomous, we hang (Received Hang 10 Award from Team 60 at Arizona Regional) and deploy our SODS (Shields of Doom). The SODS are lexan protection strips that lay over the bar and prevent 90% of teams from hanging on the bar. We travel up the stairs between the stationary goal and the edge of the platform and then turn around the stationary goal and center ourselves in the middle of the platform as we extend our hanging device. Then, the winch pulls us up onto the bar and our locking device locks the robot onto the bar. It took a while to perfect and our first 100% successful attempt was in Arizona during the Quarter-finals.

P.S. Oh and how we do it: Ultra-sonic sensors to detect stairs. 2 Gyros (Pitch gyro and another gyro to detect change in X), wheel encoders as we go up the stairs....yea and over 15 limit switches.

Re: What do you do during autonomous mode?
 

just wondering? could you put a switch on your OI to execute your auton auto-hang algorythm at any point in the match?

Its awesome that you were able to do this all in auton 15 seconds, but what do your drivers do for the rest of the match? just stand there?

if you bot can get on the bar that quickly and reliably I would think it could also push a few small balls around, maybe run blocking interference if the other team is herding balls...

there must be something your bot can do for the other 1:45 seconds of the match, yes? is that what you normally do? or do you just go for the bar and hang there?

Im not trying to be funny or disrespectfull - what you have accomplished in auton mode is awesome - seriously

but our bot gets the release ball and herds balls to the HP - if you went head to head with us and hung on the bar for 1:45 you would loose every match - we can get more than 13 balls into the goals in that amount of time if nobody is getting in our way.

hey wait, maybe Im giving you ideas you will use against us? what regionals are you going to again? :ahh:

ok, I just checked, we are not playing in the same regionals - so I wont go back and delete my advice :^)

Re: What do you do during autonomous mode?
 

Team 972's robot uses the cartesian coordinate system to plot out what the robot does. This system is very easy to reprogram in between matches

Re: What do you do during autonomous mode?
 

Yea, we can do other stuff besides hanging. We have shields that we drop that protect the bar, that don't allow any other teams to hang. We can lift them individually if we wish to let our partner up however, and then we can put it back down over our partner's hanging device to not allow our opponents to hang. Also, we have an arm that can decap our opponents goal and then can go up and over the bar and cap our goal with the ball. Also, we can push against our opponents goal so that they can not get a 2X multiplier ball in it. It seemed to work quite well at our regionals, as we were semi-finalists at both the regionals we attended.
P.S. Oh yea, and we can pick up the middle ball in auton and cap our opponents stationary goal so that they can't get any small balls into it. (Well, that is if we can get that part of our auton perfected)

P.P.S. Oh yea, and we wouldn't be good for herding small balls or interference because we have an 8 wheel drive system. This might sound odd, but we have a reason for it. When we go up the stairs between the stationary goal and the edge, our outside wheels hang off the edge, and therefore the 8 wheel system is needed. Driving manually is quite difficult, although it is possible.

Re: What do you do during autonomous mode?
 

Not trying to be disrespectful or mean in any way, but just to bring up a point, how well do you think you would do if we hung, protected you from hanging, and your stationary goal was capped in autonomous so that you couldn't get any balls in?

Re: What do you do during autonomous mode?
 

We just have autonomous do dead reckoning, since we had hardware issues with the sensors (too much leakage), and we spent lots of time throwing out stuff to save weight. Auto code just goes straight, since we've found it's suicide to trigger the ball drop, since the robot will be trapped by balls.

Re: What do you do during autonomous mode?
 

not a problem - we have a wicked arm with a suction cup that can rip anything out of the goal if we need to

BTW we were finalists at Pittsburgh :^)

the photo below is a few weeks before we shipped - didnt have our triwheels on yet - we can hang if we want to - but you get more points by filling the goals and capping them


http://www.chiefdelphi.com/forums/pi...&quiet=Verbose

Re: What do you do during autonomous mode?
 

fo forward... stop in front of mobile goal.. rotate arm.. grab 2x ball