Re: [video] ThunderChickens 217 Auton REVEALED
 

Yeah... I second that... our robot already got run in to by an autonomous mode and we were just waiting for a practice round to start!

I'm glad we aren't the only ones doing high speed fully autonomous laps.

*makes note to finish up adaptive cruise feature* ;)

-q

Re: [video] ThunderChickens 217 Auton REVEALED
 

verrrry impressive.... what speed is the bot running at ?

Re: [video] ThunderChickens 217 Auton REVEALED
 

I'm not on the programming team (I just wrote here what they told me to put), but I understand it is doing some serious error processing calculations to keep it straight (beyond that I couldn't tell ya).

To all asking about the speed, I'm not sure off the top of my head. I know it was calculated at 17fps (in design), I'll see if we can get a more accurate measurement today.

If you look closely, you can see chunks of 06 poof ball being used as pseudobumpers on the corners :]

Re: [video] ThunderChickens 217 Auton REVEALED
 

She made weight?

Re: [video] ThunderChickens 217 Auton REVEALED
 

120.0 out the door, driving and fully functional =)

Re: [video] ThunderChickens 217 Auton REVEALED
 

Engineered that way, or cheesehole'd that way? :D

Re: [video] ThunderChickens 217 Auton REVEALED
 

We prefer to call it Jenny Craiged...

Re: [video] ThunderChickens 217 Auton REVEALED
 

That it is.

You looked like you might have been able to do this so I'll ask: Have you guys considered not finishing the lap and trying to dislodge a ball from the overpass? It seems like you have a mechanism for doing so.

Other than that I have nothing more to say except that that was an amazing video.

Re: [video] ThunderChickens 217 Auton REVEALED
 

Here is a link to one of three pictures that may answer some questions:

http://www.chiefdelphi.com/forums/sh...ad.php?t=64709

Re: [video] ThunderChickens 217 Auton REVEALED
 

We use the co-processor as an interrupt driven encoder tick counter. It also performs all of the floating point math for calculating arc-length and theta. Arc length is simply the sum of the ticks of each encoder divided by 2. We then calculate the difference in arclenghth of each encoder. Since we know the distance between the two encoders (robot diameter) we can calculate theta. Using an external processor guarantees that no encoder ticks will be missed due to program flow latency or high priority interrupts like the ones used on the RC. We are using 128 bit quadrature encoders that are measured on both the rising and falling edge of each pulse. This gives an effective resolution of 256 ppr.