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Unread 03-04-2011, 22:35
Jeremy Germita's Avatar
Jeremy Germita Jeremy Germita is offline
Co-Advisor/Lead Engineering Mentor
AKA: wood is good. plastic is fantastic.
FRC #5012 (Gryffingear) / (Antelope Valley FIRST Teams)
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Join Date: Jan 2010
Rookie Year: 2007
Location: Lancaster, CA
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Re: Autonomy: How Did You Guys Do It?

I was told by several older members and mentors to abandon the use of sensors altogether because of our history with sensors. Essentially, don't use them because we've never used them. What I thought was hilarious about this discussion was that half of these guys were mechanical, and couldn't tell between a potentiometer and an encoder.
</rant>

The autonomous program I've been using in San Diego and Los Angeles was dead reckoning with timers. It worked about 70% of the time. Aim for middle peg, score on left peg.

I plan to have a basic autonomous program using the encoders and gyro. This will at least go straight. I will test and implement this this week in Utah. Another variation of this program will attempt to put up two tubes. But this is a long shot...

If we make it to STL, I want to mount an ultrasonic sensor for distance sensing.

Sensors on James Bot:
Potentiometer on arm shoulder
Encoders on drivetrain
Gyro on drivetrain
CAN Bus Current Sensors(Used in our roller claw to sense tubes)

I've had KOP light sensors mounted, but 2/3 were mangled during practice on concrete, the other one doesn't seem to calibrate. I have abandoned these.
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