2220's Play/Record Macro for Autonomous

[2220Dennis]

Hey all-

Team 2220 implemented this at the Central Illinois Regional when Team 4009 DNA told us about a super useful tool they wrote to code autonomous programs. They had their robot programmed in Python, so we spent the night transferring the code into Java and making it work with our setup.

https://github.com/DennisMelamed/FRC-Play-Record-Macro

Here's the gist: you press a button in teleop while you're practicing that records any motions you make into a .csv file stored on the roboRio. Then during autonomous, you have it read back that file, outputting the exact same values to your motors/other things. Easy to setup, create, and change autonomous programs quickly and without a lot of planning.

Thoughts/improvements? Big thanks to Team 4009 for the idea and their code in python (you can find the link to their code in the github readme)

[Fields]

Sounds cool.

Question:
Is it easy to go back and clean up some of the commands?

Say the driver didn't go forward enough on the first try and had to bump it a little. Is it easy to adjust for one smooth motion instead of two?

[Ozuru]

This sounds pretty neat and would be very useful. Nice work. Have you used this in competition? How has it gone?

[Poseidon5817]

We attempted this also, but could not get playback to work.

[2220Dennis]

Originally Posted by Ozuru

This sounds pretty neat and would be very useful. Nice work. Have you used this in competition? How has it gone?

We have used this in competition, it works much better than trying to get the timing of all the motions down in the code It ended up being one of the few times our auto program did what we wanted it to.

[techplex]

What does the BTStorage class do? Is it important? It isn't in the repository.

[Ichlieberoboter]

Is there a version in labview?

[slickvic2252]

Yes 2252 made a 3 tote auto using the same system in labview and was successful 11 out of 14 times

[Jacob Bendicksen]

That's amazing!

Funny coincidence, too - the FLL team that I coached last year built pretty much exactly this, but it ran on an EV3 that was controlled via Bluetooth by another EV3. They ended up winning the Software Award at the Oregon State Championship, and you guys deserve to win something for this - it's a great piece of work.

[2220Dennis]

Originally Posted by Jacob Bendicksen

That's amazing!

Funny coincidence, too - the FLL team that I coached last year built pretty much exactly this, but it ran on an EV3 that was controlled via Bluetooth by another EV3. They ended up winning the Software Award at the Oregon State Championship, and you guys deserve to win something for this - it's a great piece of work.

Thanks! Team 4009 DNA really deserves the credit, those guys wrote some really awesome code.

[orangemoore]

Originally Posted by slickvic2252

Yes 2252 made a 3 tote auto using the same system in labview and was successful 11 out of 14 times

Is it possible to get that program?

[AlexC]

Originally Posted by orangemoore

Is it possible to get that program?

Yes it is. Here is the latest version of our 2015 code along with our 3 tote auto file. The file type that windows assigns the auto recording seems to be rather random but just open the file with a excel or an equivalent program with tab seperation and it should open fine.

https://drive.google.com/file/d/0B-Q...ew?usp=sharing


Using recording and open office to edit the file we were able to develop our 3 tote auto in just a little over two hours.

[virtuald]

Cool stuff, glad to hear a python team did it first..

In 2003, the first year that FIRST had autonomous modes, I was a senior in high school and I implemented this exact same type of thing that year in PBASIC. Only had 22k of flash memory to write to though... but it worked like a champ!

[jtrv]

One of the most clever things I've seen yet. Nice work.

[doctorflems]

Originally Posted by AlexC

https://drive.google.com/file/d/0B-Q...ew?usp=sharing

Could you take some screenshots of the block diagrams and describe how you did this?
In most cases, I am terrible at writing an autonomous sequence, but it is in this case that I believe I can get a firm grasp of the concept.