|
Re: Autonomy: How Did You Guys Do It?
Quote:
Originally Posted by Bethie42
This rookie programmer wrote autonomous mode on the last day at 9 PM
Our arm's highest extension is at roughly the height of the highest peg, and when we release the tube we don't have to back up in order to score, which made things easier.
We navigate to the scoring grid using line sensors. I didn't program for the Y because I figured 1) we should have our pick of starting positions, we can just choose the straight path and 2) it would distract us from getting the easier stuff working.
Currently we are just running the elevator motor up all the time during autonomous, due to a weird problem with our limit switches in autonomous [speaking of which, would anybody like to Find the Bug that's making our limit switches work in teleop but not autonomous?  ]. However, we recently switched our elevator motor to a more powerful one, which actually caused a belt to shear when it was run too far.....alarmed, I am now planning some careful testing and playing with the motor speed before we go out to a match and shear another belt. The idea is that if the elevator reaches the top just as we reach the scoring grid, we won't damage anything.
We use the tape T to trigger scoring, which involves stopping the elevator motor and opening the gripper. We can drop the tube at just about any height and still score.
All very rudimentary and I am particularly irked that the limit switches are still proving noncompliant. We didn't get very much [read: any] testing in of the whole system: at roughly 9 PM on ship night we got the line following stuff working, and then I successfully wrote and tested a switch statement to ensure that we don't just drive right over the T before it has time to stop us. So theoretically it should all work: I am anxiously looking forward to our Week 4 regional to try it all out 
|
I'm currently trying to distract myself from the fact that the next regionall for us is in like 2 and a half weeks so if youd like me to look over your code, id be happy to help debug it, granted i understand the language you send me
and that sounds pretty awesome. im still working on getting time to work on our teams autonomous 
__________________
2009: Electronics, Scout, Turret Operator
2010: Programmer, Electronics, Safety Captain
2011: Lead Programmer, Lead Electronics, Forum Admin, Design Committee Member, Arm Operator/Driver, Safety Captain, Pit Captain
2012: Alum of 2791, Programming and Electronics Mentor for 2791
|