Chief Delphi - Cam interupt question

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Collmandoman

07-03-2005 02:48

Cam interupt question

At the kickoff lavery walked around.. and the bot followed... but it stopped when it got close enough.. can someone explain this? I've looked through the entire FIRST code and can't find anything that shows this. I don't even know how it could be done... unless the camera was programmed to stop sending info to the drive system when X amount of area was consumed in its field of view.. or there was a push sensor I didn't see. An explanation or a foward to code I missed would be most helpful - Thanks

Goldeye

07-03-2005 03:12

Re: Cam interupt question

There are two ways I know of to do it.
A. Stop driving when cam.tilt_servo < x (which is what most teams did, I believe, but wouldn't work for a vertical object like a human)
B. Stop driving when the cam.size > y (as you suggested, which is probably just what they did.)

Collmandoman

07-03-2005 03:25

Re: Cam interupt question

do you by chance know if that code was included in the first code? (for area > X) I can't seem to find it

Mark McLeod

07-03-2005 10:53

Re: Cam interupt question

The kickoff demonstration version of the camera driving code (if it's the version 2.4 FIRST released) looks like it might just have operated by driving at a slow enough speed such that it was stopped when it pushed lightly up against something (a leg, a goal).

It looks like the max forward speed was 150.

Code:

user_routines.c:38: const int speed_setting = 150; //forward speed setting (127 to 254)

user_routines_fast.c:31: extern int speed_setting;

user_routines_fast.c:154: if (speed_setting < 128 || speed_control > 254) //Check speed_setting for valid forward speed

user_routines_fast.c:155:         speed_setting = 150;                        //If not valid number set to default

user_routines_fast.c:158:         speed_control = speed_setting;

Greg Marra

07-03-2005 14:48

Re: Cam interupt question

It looked like the robot was running in to him. I agree with Mark McLeod.

Kevin Watson

08-03-2005 17:39

Re: Cam interupt question

Quote:

Originally Posted by Mark McLeod

...looks like it might just have operated by driving at a slow enough speed such that it was stopped when it pushed lightly up against something (a leg, a goal)...

A bump switch was installed to keep the 'bot from running over Dave. It may not be in the code because (I believe) it was added just two days before the kick-off.

-Kevin

Collmandoman

10-03-2005 12:41

Re: Cam interupt question

thx kevin =)

Mark McLeod

10-03-2005 12:55

Re: Cam interupt question

Quote:

Originally Posted by Kevin Watson

A bump switch was installed to keep the 'bot from running over Dave. It may not be in the code because (I believe) it was added just two days before the kick-off.

-Kevin

How many times were the testers run over before the touch switch was added?:ahh:

djcapelis

24-03-2005 00:44

Re: Cam interupt question

Quote:

Originally Posted by Mark McLeod

How many times were the testers run over before the touch switch was added?:ahh:

As many times as it took.

Robotics requires live humans, no one said this sport was going to be easy. ;)

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