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Unread 12-04-2011, 19:14
stuart2054 stuart2054 is offline
Controls Mentor
AKA: Stuart Sebright
FRC #2054 (TECH Vikes)
Team Role: Mentor
 
Join Date: Apr 2011
Rookie Year: 2010
Location: Hopkins Michigan
Posts: 102
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Smile Re: Autonomy: How Did You Guys Do It?

Quote:
Originally Posted by davidthefat View Post
From the looks of it, a lot of teams did the whole "drive forward for x seconds/feet and score" method. Others used line trackers, some might have used cameras.

How did you guys do it?
We Use two electric eyes for line tracking and an utrasonic distance sensor for distance we got from Pololu.com. The distance sensor is awesome, with in +/- an inch. You have to correct a little for coasting when the motors are put to zero speed. Our arm is pneumatic so it just goes to the top position which is good for either the middle or left and right pegs. We also have two distances which are selected by the driver by moving the right hand joystick throttle either fully up or fully down. WQe need to be closer to the wall when we stop and hang the tube if we play the middle Y tape position.

At the correct distance we stop and let go of the uber tube and lower the arm. Then back up sending equal speed signals to the motors at 13 seconds in we lower the arm.

At our first district we never missed a top level uber tube score. We did not back up there and almost dropped the tube because when the arm fully retracted we hit the middle peg.

So we added the backing up before district competition #2. We had a couple of misses there because the the joy stick was set for the middle Y tape positon and we got too close and the arm joint caught on the middle peg and shook off the tube.

At MSC we did not miss except for when an partner robot veered into us and one other time when at end of day Friday match the tape was screwed up and the robot veered off. Our driver now check the tape on the floor before every match.