Quote:
Originally Posted by Bethie42
On another note, has anyone here worked on an autonomous mode that scores more than one tube?
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We have, done two tubes.
We turn the robot into a rolling PID Loop and just start executing commands to the PID controllers.
Arm Length and Tilt PID for HighMiddle
Ultrasonic & Gyro PID to 36" from the wall.
Ultrasonic & Camera PID to the peg tube 1
Reverse Claw
Arm Length & Tilt PID to home
Arm Length and Tilt PID for Front Pickup Run Claw Intake
Strafe Wheel Pods & Encoder PID infront of tube 2
Drive FWD until the claw detects a tube
Arm Length & Tilt PID to HighEndPeg
Ultrasonic & Gyro PID 36" from the wall
Ultrasonic & Camera PID to the Peg
Arm Length & Tilt PID to home
Reverse Claw
If you watch the video you can see each step:
Video