Quote:
Originally Posted by NextPerception
that is sort of what I had attempted to do. Our robot had adjustable shooting angle between 0 and 45 degrees freedom that was hooked up to a potentiometer. then you aimed left and right with the whole robot. what I attempted to do was make a lookup table so that if the camera was reading X on the tilt axes, it would make the shooter go to Y Degrees.
I never got it to work because at first the potentiometer wasn't working correctly and then I wasn't able to figure out how to make a PID before we had to ship the robot.
|
Yea, we did the table thing to...
Only out of it we build a Linear Graph in excel, got its equation and put it in the code so the RC always knew what should be his cannon angle compared to the location of the target...
Our cannon was actually based on 2 points. one stable in the back, where the balls got into it, and annother point in the other side of the cannon, which was a gear that went up or down using a spike...
I believe it was using the Globe Motor.
we just moved one end of the cannon up and down, while the other point is stabling it... The cannon was about half a meter long, so it ddnt create problems, but if it was a 20 CM cannon, then it would have created more problems, cause then we had to make 2 moving points beeing depandanant on each other,,,and that would have been one crazy formula...
Some teams also made a rotating cannon, bout 120 degrees, meaning that they could shoot from anywhere, without depanding on their wheel position. WE didnt even try it, thought it was way too complicated for 6 members team to make...
Actually, we have even removed the X-axis servo from our CMUcam2, so it only moved up and down, and didnt move left right, which made finding the target much much faster for the camera...
Before the matches began and we suffered some bad ramming, u could actually see our camera moving along with the cannon, as if they were using the same servo (BTW thought of giving them the same servo and attaching them, but gave it up, dont remember why ).