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Re: Archi-medes!
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Re: Archi-medes!
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And those were some intense matches, if we would have gotten 1 more line in hybrid we could have won it. :mad: But that was a really good alliance Quote:
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It's really not a very effective strategy as it only works moderately well and really only against arm robots. It was a nice one-time play that turned a few heads, and we had fun with it. We tried it again in our last match of the day, but to much less effect. |
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Also as the refs went over at the drivers meeting, it wouldn't be considered interference with a hurdle since 190 was already positioned, and the hurdling teams would be the one initiating the contact. If 190 had been turning their arm to block, or kept moving around it would've been a different story. But as it stood, it was a perfectly legal, and in my opinion brilliant strategy. |
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come to think of it, we could have countered it and drawn in the penalty by having one of our robots blocking the lane of travel around 190, and having another one of our robots bumping 190, therefore giving them penalties until they moved. very tricky strategy gompei... we actually had something similar planned for 1114 if we had made it to the finals. (stupid auto switch) |
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Thanks again 1124 for picking us, it's always fun to work with you. 1024 hope to see you again at IRI. Pete |
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In my mind, 190 owns the field every year. |
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I'll go kinda shallow the first go-around here and if you all still want to know more I'll post again. The basis of our robot's autonomous control system is a pair of super duper PWM's running at 98.72Hz, 16-bit resolution. On top of that, for both sides, is a velocity PID. The velocity PID on both sides gets its commands passed down from a heading control system that sits atop of that. The heading control system gets it's velocity value (velocity is the language of this system if you couldn't tell yet) based on a cruise/accel/decel control loop with lookahead to the next instruction based on current velocity and desired velocity for the next instruction. Atop of this sits the straightline motion/arc interpolation module. Straightline motion is, er, straightforward: set a distance, a speed limit, and a heading and away she goes. Arc interpolation is much more interesting, and much more entertaining to watch. As far as writing the autonomous script goes, it's easy to set up: specify the start angle, end angle, radius, and speed limit. The software then uses a calculus-derived function to figure out where the left (or right if we're making a right turn) tire should be in relation to the current angle of the robot to generate a circular turn of the specified radius. We always used constant radius turns in competition, but the system is also capable of handling formulaic continuously variable radii as well... example, make a french curve. At boilermaker we tested the arc interpolator to be accurate to about +/-2" on an 8' in diameter turn from zero to 180 degrees. Pretty good considering scrub and all. On top of this layer sits the supervisory control layer which watches for sensor input failures and shuts off the autonomous if necessary. An error message is displayed on the rear data center in this event. (example: nOEn: no encoder data). Finally, on top of this is the script executor. It runs the show, and directs the rest of the algorithm from a high level to do whatever you want it to do. That's the drivetrain. Since it's not as fancy as the drivetrain, I'll just gloss the knockoff bar operation. It uses a couple sensors and a state machine to run a pair of vex motors that put it up or down. The robo coach software just acts as an input to run both the supervisory drivetrain software and direct it as to which lane it should be going to, and instructs the knockdown bar state machine as to what it should be doing. Just let me know if you have any further questions. For now, my fingers could use a rest. :o -q p.s. Don't forget to celebrate International Creativity and Innovation Week! |
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Just one question.... what was all that again... in english? So thats what you got the award for... and I thought it was for just the fancy speedo on the back. :ahh: After re-reading your description again... I think instead of a award they should have just given you a job! :D |
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Re: Archi-medes!
I want to thank 1124 and 1024 for inviting us to be on their alliance. Both of your teams were amazing and your automodes were downright scary.
1124: We were really hoping to be your last pick in Hartford and you passed us up. While it was obviously crushing to us to not be picked, I knew it was the correct decision as we had not shown any capabilities during the qualifications. Although you may not have thought about it this way, but had you picked us, and we went onto win, we would not have had the motivation to redesign our claw (which it severely needed) and therefore not been there for you to pick on Archimedes. It was great to work with you this year after battling it out on Newton last year. You guys have a great team that has a bright future, and if you keep working the way you have the past few years, you will get that Championship you deserve. 1024: I had watched a couple of your matches on video before the championship, and though you won your 3 regionals due to you automode. Man, I could not have been more wrong! You true domination of the field was outstanding. During a match I usually pay close attention to our bot in case there is something we can do better next match, but every time I scanned across the rest of the field, there you were, hurdling, and hurdling more. I will still don’t understand why your two poles of a gripper worked so well, but it does. Your drivers were amazing, maneuvering through all the defense and traffic jams, and never missing a hurdle as many shooters did. The thing I liked most about our alliance was that we won and lost as a team. When all of us were in tact we were outstanding. When there was one robot caught up or broken in a match, the others picked up the slack and got the needed hurdles. The matches we lost were when multiple robots had problems. It was disappointing that in the final matches all 3 of us had issues, because I know we could have taken the Curie alliance and would have loved to have a stab at Galileo. When getting to Einstein there is a lot of luck, and this year it just didn’t roll our way. To 987, 365, and 842. You guys were an amazing alliance and we were terrified to face you. 987: You guys built another amazing robot this year. During selections I was going back and forth on who I would rather have been selected by, you or 1124, because both of you had such good first picks. It would have been awesome to work with you again, but apparently you didn’t want us ;) . 365: It was fun to play with you guys and take down 1124 in their last match. You guys built a great machine this year which was fun to play with and scary to play against. I think you had one of the best pick-ups through defense in our division. Overall 177 had a great time playing in Archimedes. |
Re: Archi-medes!
in response to Eric O:
Actually, we wanted to pick you guys in Hartford... you and 716 were equally matched on our list (maybe actually above), but 175's data pushed 716 above you guys when they made the final decision. Everybody in the stands thought we were going to pick you guys, and it kind of came to a surprise to us when Ellen didn't. However, if it really motivated you to create that awesome roller claw, then i guess it was for a reason. Good job this year 177, 3 years on Einstein is no easy feat. And that takedown in match 88 was very, very well played. We knew we had that match lost the moment we saw 177 paired with 365... and we knew 190 was going to do some sort of defense but hadn't planned on the 'sacrificial' method. |
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As the coach on 71, I would like to thank 11 for picking us as the number 1 pick on Archimedes. Things were looking up when we got 2166 which was top on both our depth charts. Many people don't realize 2166 is one of the teams that 1114 mentors and has very silimlar drive systems; great autonomous, fast, tough defense. I did not know much about your team before but after meeting your mentors and students and running a couple of matches together, I saw a well run team and understand how you got to be #1 seed.
We had a great time with you guys but it was too short. We definitely had enough horsepower to go farther. Unfortunately, we (71) had two uncharacteristic bad rounds in a row; an arm that broke off and a human miscue in hybrid ended the run. At that level of competition, you have to execute perfectly to win. I hope we get a chance in the future to run again with you and do a better job of it. Thanks again for the ride. Are you applying for IRI? I hope so. Brian Beatty |
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