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Unread 23-04-2007, 11:59
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ericand ericand is offline
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AKA: Eric Anderson
FRC #3765 (Terrabots)
Team Role: Mentor
 
Join Date: Jan 2005
Rookie Year: 2004
Location: St. Paul, MN
Posts: 148
ericand is a jewel in the roughericand is a jewel in the roughericand is a jewel in the rough
Re: Poll: Best Autonomous(read the 1st post before voting)

Quote:
Originally Posted by Koko Ed View Post
That's who I thought of but they turned it off for the championship.
Why isn't 1126 on this list?
Actually, 1425 didn't turn it off. Our lower ultra sonic sensor wasn't working correctly (possibly due to a change we made to strengthen the front end). Looking at the video, I think it almost worked in one match after we made some adjustments, but that match a defensive auto mode pushed the spider legs towards us so we were too close to score.

We really didn't want to change much since we were doing so well in all other respects. In hind sight, the reward may have outweighed the risk.

Our system consisted of 4 ultra-sonic sensors. One low on the robot, aimed to detect the base of the rack. 3 right below our gripper to detect the foot. The basic program for auto mode went like this:

deploy the gripper/tube
start to move the tube to scoring height
start moving forward - timed -
this lets us ignore our lower sensor while it calibrated
and prevented false readings in case it saw the gripper deploy.
using the lower sensor - drive to within scoring distance of the rack
using the upper sensor pod, center the robot on the nearest spider foot
robot turns right/left to seek the foot
If foot found, lower gripper - release tube - wait for auto to end
else release tube regardless at 14.5 seconds

The upper sensors were read by a custom curcuit which fed back 2 bits of target data
to the RC. The data that came back represented the possible foot locations from the
sensor pod's point of view:
Center
Right
Left
Unknown

The original plan was to have more info go back to the RC but our first cut at the communications
did not work and we ran out of time.

Last edited by ericand : 23-04-2007 at 12:15.
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