|
I gave the tape I had of Cleveland matches to someone else on our team. We timed our bot from the tape, from the time it started moving till we saw the first box flinch. It was consistant at 4.5 second. And yes, that one team that beat us to the wall was 3.0 seconds (I am humble in their awesome presence :c)
There was a bot at Cleveland that had a wally-arm - it took a little over 3.5 seconds to deploy and hit the wall, but it didnt take many boxes out, and it didnt knock them very far.
We started our auton mode using 7 (yes count em) retro banner sensors under the bot to follow the line. We had to stay late to test it - when the whole team was there they wanted to practice driving, or were tinkering with the trannies, so the sparkies were there till after midnight a few times.
Then AFTER the bot shipped I realized a better way is to do the V turn - start out backwards pointing towards the center of the operator stations- go back about a second, turn 45°, then warp speed scotty!
We use the gyro for closed loop steering - and was a simple step to simply add the output number in a 16bit variable ( VAR WORD) - always subtracting 127 to normalize it - and use that accumulated number as a compass heading. 45° comes out to be approx 3000. We can turn 45° dead on every time - the only drawback is you have to turn a little bit slower than you would without it (to keep below 75°/second sensor max) - but since we are only turning 45° - it doesnt take long. If you try to do a half circle with the gyro as compass, then it will take you 3 seconds just to make the 180° turn.
maybe we will give dead recogning a shot (without the gyro) at toronto if we have time to play with the timing of it.
|