Quote:
Originally Posted by JamesBrown
David and lineskier ot of curiosity how much experience do you guys have with programming autonomous robots? I think you guys are drastically under estimating the difficulty of this task.
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Lets say 04 was the first time I was introduced to autonomous (glanced at it in 03, but basic sucks).
However coding was completely changed with the introduction of the cRIO.
That being said, I got the camera working for this game in about one nights of work. My biggest issue was our drive (2wd direct with only 1 cim per box). The arm didn't help either. If I was to try to accomplish this, I would have a long list of requirements for the robot. Something like 40 (swerve with a reliable arm)
Using real vision libraries, you could find the tubes, analyze the rack and cap.
The tubes make huge targets, and the pegs show up really well on the camera.
Using something like that which 33 developed where based on the tube, the arm goes to a given height would help.
I already have the structure to allow autonomous to work as a graph state machine, allowing me to create loops. So to do a fully autonomous robot, you would have to create maneuvers such as the following, and then it would progress through the graph.
FIND TUBE
CAPTURE TUBE
FIND TARGET
CAP TUBE
RESET...
I'm not saying it would be easy, but I think it would be possible if it was a goal from kickoff to IRI.
If I could score 2 ubertubes and one logo fully autonomous that would be my metric for success.
Probably the way I would start is by making a deal with the opposing alliance, "you throw three tubes in our scoring zone, we'll throw 3 in yours" This way I would never have to leave the area by the goal and deal with a defending robot.
More realistically I could set up the maneuvers for driver use. So the driver gets the tube in the cameras image, and then the tube capture is handled. Then the driver gets to the pegs, and runs the auto cap. Drivers are better than the autonomous at adjusting to their environment, tube captures and caps are fairly static so may be better for auto maneuver