I have most of these questions answered from team 25.
Programming:
What language did they use?
We used C/C++, with the provided WindRiver Licenses
Did they do something in autonomous? If so, what worked?
We attempted to have enough versatility to score from all zones. We had an onboard switch and up to 7 auto modes programmed to do so.
What problems did you encounter, if any, with WPILib?
We had a couple of problems while working with encoders. We got some code errors referring to the directory in WPILib. We ended up giving up on encoders, and working with other sensors.
You'll see our big problems recorded here:
http://www.chiefdelphi.com/forums/se...archid=2951632
Did you download the sources and rebuild WPILib/CanJaguarLib?
We only had the updated version of WPILib to work with. Any new version we could get, we immediately refreshed our libraries with it.
CAN or PWM control?
PWMs. We did not use Jaguars at all this year, and only worked with PWMs and Victors.
Did you use the Classmate for programming your robot or student/school supplied computers?
We used a combination of an old school laptop, and a generously donated laptop to work with our programming. We found that the older one just wouldn't let us connect a drivers station, a CRio, and a laptop simultaneously.
Robot Design:
What sensors were used?
We used two different kinds of sensors. One photogate sensor was placed in the front of our robot to sense a ball.
A limit switch was attached to a gear driven bolt for our kicker, to sense if it was winded up or not (our kicker was winded by two window motors to store energy from surgical tubing).
And a last limit switch for our hanger which we added later on in the season, to sense if our pull up was at its limit.
Did you use the vision system?
No, we felt it would be too tedious a job after the trouble we went through last year, especially with the lack of the classic bright green light
What drive system?
Tank Drive. 6 wheels. The middle ones are not lowered, but we find turning is a breeze anyway.
Wheels?
We use skyway wheels that we tread ourselves at school. This year we had to replace a couple because we ended up shredding the rubber after two regionals
How many motors?
4 CIMs for the drives
2 Window motors to wind up the kicker
1 worm-gear driven CIM motor for our hanger
2 Fisher-Price motors for our fans
2 servo pin brakes
How did they control the ball?
We used two RC Propeller blades in an air duct to pull air through the robot. We found we could suck in a ball anywhere 10 - 12 inch radius of the opening in the front. It helped with catching them in the corners.
Energy storage for kicker (elastic, pneumatic, motor driven, etc.)?
Elastic. Surgical Tubing.
How did you cut your parts (water jet, LASER, mill, hand tools,etc.)?
Some parts we cut with hand tools, drills, bandsaws etc. Mostly with stuff you find in any high school wood shop. Nothing fancy.
Did you hang?
Yes, we hung from the side bar.
If so, what wenching approach did you use?
Side bar. We had to hook onto the side bar, and pull ourselves up.
The Driver Station
Did you reprogram your dashboard code?
nope
Did you use external controls beyond your joysticks?
Nope, this year we used three of the Logitech joysticks.
Any problems in getting the USB to behave?
Except for the provided stop button annoying us in Atlanta, no problems
Did you use any unusual controls like WiiMotes, XBox controllers, etc.?
no, we deprive our drivers of that luxury
Did you feel that the Classmate was fast enough?
We found the reset times excruciatingly long during build season, but learned to adapt.
Anything techniques?
When we cut out parts for our robot, we find it easiest to print out actual size CADs of the parts, and stick them on to our material. This way our measurements are exact, as they are from full sized CADs. Gives us nice lines to follow when cutting, and saves us measuring time. I'm not sure if other teams do it as well, but it's great for us.
"Lessons learned"
We thought this year's design, and build process went fairly well, though haunted with some programming bumps in the road.
I hope this helps, please let me know if you have any questions or if I was unclear about anything.