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Originally Posted by jamapor
We use the ultra-sonic sensors to travel to the stairs, the gyro's to detect when we reach the stairs, and then wheel encoders while we move up the stairs. It takes the un-reliability of the ultra-sonic sensors out when we move up the stairs by using the wheel encoders.
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Well, we've pretty much finalized our autonomous mode setup and we've written up the code. These are the following "sensors" we're using:
2 * Optical Sensors
3 * Infrared Sensors
2 * Potentiometers
4 * Current Sensors
2 * Switch
Now, I've tried to make sure that the autonomous mode code is full proof so that it will work even given the mechanical imperfections of our bot such as drift and motor backdriving. Essentially, it should be plug and play or at least I hope it should. Programming for Windows is one thing but programming for a robot is a completely different animal . Being a rookie team, none of know if anything we do will work. We sent in the bot 95% complete.
I commented for almost every single line of code and I wrote up an "Autonomous Mode Manual" so that I can very quickly figure out problems if any do arise. I've broken down autonomous mode into a 6 stage process with feedback so we would know which stage the robot is executing.