Quote:
Originally Posted by bt20304
How you package the turret depends on your design and intake, but they can be quite small. As for aiming, our team student captains thought about keeping turret aimed at boiler the duration of match, and using vision only when line of sight and when readying shooter. wouldn't take much. Just a thought though, haven't investigated too much.
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One idea that we had for Stronghold but never fully pursued was the ability to keep a turret always aimed toward its intended target no matter what the rest of the robot is doing. If you've got a gyro on board then you know what your heading is, and if you know what your starting position was relative to the boiler, then you can move the turret accordingly. Encoders should provide a "good enough" direction such that a vision system could take over when you need to fine tune the aim.
We had our camera mounted on a servo pan/tilt unit and the working idea was that the camera (instead of a turret) would always try to face the tower, so that when we were ready to aim, it would be reasonably easy to find the vision target. Ultimately we opted for a fixed camera angle to keep the code simple as we ran out of integration time.