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Originally Posted by John_1102
Tanner! Are you saying you made program that basically records what you do while driving it? Then you go back and have the robot and do it on it's own? Like a record/replay sort-of thing? THAT sounds awsome! May i get a copy of the code to look at??
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Yeah that's pretty much what it does. In the LabVIEW vi's I actually have a giant "record/replay" button.
The code is actually on a desktop computer at the school, so it'll be a few days as I need to bring that computer home.
Quote:
Originally Posted by lineskier
From the video, it looks like the issue occurred during the rotation. The encoders would have the same issue as they would have different slip each time. If I were to try it I would hook up a gyro and 2 joysticks, one for going straight, one for rotation (just so you don't do both at the same time) Driving straight could be by the joystick, and then any time you rotate the code could refer to the gyro values. Also by doing it this way, the robot could probably accomplish the task faster as you could speed up the rotation period.
Also by using the gyro, you could also make sure that straight was actually straight.
The encoders may be a good idea for the straight period though, as long as there is not too much slip. For going straight, if you have a reference point, a rangefinder may work well too. Allowing the robot to speed up the process faster than a driver could.
I believe that wheel slip is the most variable thing in autonomous. So I would tend to lean away from anything dealing directly with the wheels (ie encoders, js values)
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Though the robot did run into a trashcan, which is problem caused because of trying to align the robot with no markings on the floor. The slick wheels probably aren't helping the situation either.
As I said in a earlier post, the robot wasn't outfitted for sensors, so I didn't use them. If I had them on the robot, I would certainly have chosen those over the joystick values. If I have time this summer, I might play with this year's robot which has a few sensors on the drivetrain which I could use (plus no more of those slick wheels - yay).
I'm not sure how you would get around the wheels slipping without some sort of positioning system.
It works good as long as you can get the robot aligned in the right position every time. With my team's robot, we probably would've used this system for this year and last year. Both had really simple autonomouses.
Cheers
-Tanner