Quote:
Originally Posted by nathanwalters
A number of years before I was on WildStang, our team used something similar to what you're describing: you could plot out an arbitrary path on the field, and the robot would traverse it using a system we called stangPS (stang positioning system). I can talk to the mentors and see if the code is still around and if we can release it. It's probably very outdated but it could still be interesting to look through.
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Nathan, I was the mentor that did that back in 2003, and updated in 2004 (was that really 12 years ago?!?!). The navigation software on the robot was called StangPS. The external C# program that we used to draw the autonomous routines was called WildDraw. Our naming convention was that anything on the robot was Stang* and any external tool was Wild*. 2003 was the first year of autonomous and we were able to capitalize on the flexibility of being able to semi-accurately tweak programs without being on the field. We actually drew up a bunch of programs on the bus going to Michigan based on some ideas we were throwing around.
The program itself was a top down view of the field and you would add waypoints to create your path. Each waypoint had a series of properties that defined what we wanted the robot to do at each point. The output was a block of text (basically a giant array definition) that we would copy/paste right into our code.
I can probably dig up an old copy of that code, but at this point it's probably so archaic that I'm not sure what you'd learn from it. I can almost guarantee that it isn't in good shape for releasing to public eyes. I know we took a lot of short cuts and things were very tailored to our specific needs. If you're super interested in it let me know and I'll see what I can do.
Thanks to the wayback machine, I was able to find an old video that we did showing how we accomplished what we did. You'll see some WildDraw shots at the end of it.
http://web.archive.org/web/200601141...in/stangps.php