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Originally Posted by Alan Anderson
Fortunately, the nonlinearities are all irrelevant if you forego detailed computation and just make a simple lookup table that converts the measured camera tilt directly to the desired pitch adjustment. Creating that table is as easy as moving the robot forward and backwards, measuring the camera tilt, and manually tweaking the pitch adjustment until it works the way you want.
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Our planned course of action is to be aiming with the camera, but instead of messing with equations, doing just that, working with a lookup table and simply testing, testing, testing to get the values needed. After the camera positions the turret, operator will manually fire. As a backup, though, we will have the option for the robot operator to manually aim via atari (subject to be replaced with other) joystick and have some sort of sensor feedback (still undecided) on the dashboard to help give the op a better idea of where it's aimed.
Although we still lack a robot to begin getting values for the table.
