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Unread 23-03-2015, 19:51
Hsifeulbhsifder Hsifeulbhsifder is offline
Programmer
AKA: Zaeem Mohamed
FRC #5428 (Breaking Bots)
Team Role: Programmer
 
Join Date: Jan 2015
Rookie Year: 2015
Location: Markham, ON, Canada
Posts: 41
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Re: Programmers on the Drive Team

We used 2 limit switches, one at the top and one a the base, so that at the click of a button, our lift can just rush to either the top or bottom. We had also used the triggers on controller that we have for highly adjustable speed control. Holding the left trigger all the way down gives a speed of 30%, holding the right trigger grants a speed of 100%, and a neutral speed of 65% is achieved when no triggers are held. Also, the speed interpolates based on how much you press the triggers, so if I hold the left trigger half-way down, then the speed would be halfway between 30% and 65%, and if I held the right trigger 87% down, then the speed would be 87% of the way between 65% and 100%. The speed applies to both the chassis and the elevator. Also, we have glued a Lifecam USB camera to a servo, which allows it to be controllable, as well as added two fixed positions that can be reached at the press of the button. One of these positions, which aims the camera down at our claw, is snapped to instantly when the 'A' button is pressed, while the other position, which aims the camera into the distance, is snapped to instantly when the 'Y' button is pressed. We also have macros for fixed elevation and declination. So If I press a button, our claw will lift by the height of exactly one tote, and the opposite occurs when another button is pressed. Finally, we also have two buttons dedicated for exact 90 degree turns in either direction, using a gyro as a sensor.