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Unread 27-03-2016, 14:58
AustinSchuh AustinSchuh is offline
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FRC #0971 (Spartan Robotics) #254 (The Cheesy Poofs)
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Re: FRC971 Spartan Robotics 2016 Release Video

Quote:
Originally Posted by Thardro View Post
Could you expand some on closed loop driving? Also, what is the reasoning behind using two cameras?
We are using the gyro and encoders to do what essentially boils down to proportional velocity controller on top of feed-forwards. In a year where the tire dynamics play such a big part in how the robot responds, having a little bit of feedback to help the driver deal with the fast dynamics of a bouncing robot helps a lot.

We are currently just averaging the angles from the two cameras, but when we get a bit more time, we are going to work on using the pair of cameras to do stereo distance measurement. We have a proof of concept working on a laptop, but haven't made it work reliably yet on a robot.
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