Motion Planning and Control for FRC - FIRST Championship Conference Session

[Jared Russell]

Have you been wondering why your robot never seems to drive to exactly the same spot in autonomous mode?

Why can't your robot turn exactly 90 degrees every time?

Does your elevator throw totes or cans when it starts or stops?

Have you heard of this thing called PID, but don't know how to take it to the next level?

Have you come across Chief Delphi threads like this one, or maybe this one, or a post like this one, and thought: "This looks like it might be useful, but I have no idea what they are talking about"?

Does your robot's coordination and control look more like this:


than this?


If you answered yes to any of the above questions, you should come to our seminar on Motion Planning and Control for FRC, on Wednesday, April 22 at 4:30PM in Room 240 of the America's Center. All are welcome.

This presentation is being prepared by the control systems teams from Team 254 and Team 971, and it should be fun and informative. I'll see you there!

[kgzak]

I would love to see this but won't be in St. Louis until Thursday morning. I will try to send my dad and fill me in on what happens but will there be a recording of this after the event? I would love to watch it.

[MrNick]

Seconding the request for a recording.

This is the one area where we have both struggled and tried to learn the most. We are mostly in try-and-test modes and having trouble figuring out the underlying guiding principals to show the way.

[Jared Russell]

We will make sure that, one way or another, this talk gets recorded.

[Thad House]

Originally Posted by Jared Russell

We will make sure that, one way or another, this talk gets recorded.

That will be awesome. I had a lot of fun last year digging through the path generator you guys used, and getting it to work on our bot. I would be great to hear live more information on this and how you guys make your PID loops so good.

[Bpk9p4]

That is great. I will not be able to attend but am looking forward to watching the video. Do you know where this will be posted?

[AWoL]

This looks awesome! It's currently my first year as 225's lead programmer and I feel like I've got a handle on motion, but it could definitely be hundreds of times better. I can't wait to attend if I can between matches, or otherwise watch the recording!

[Tom Bottiglieri]

We will be leaving a portion of the presentation for a Q&A session, so if you can attend in person, please do!

[Spoam]

Is 971 going touch on state-space models (like they mention here)? It seems a little beyond the scope of this presentation, but it's something that interests me a lot and of which there's not very much accessible info out there on.

[AdamHeard]

Originally Posted by Spoam

Is 971 going touch on state-space models (like they mention here)? It seems a little beyond the scope of this presentation, but it's something that interests me a lot and of which there's not very much accessible info out there on.

If you can understand english with a heavy indian accent there are lots of youtube videos on it.

[cjl2625]

I'll be there.

It'll be nice to figure out how to make my robot go where I want.

[NWChen]

Originally Posted by Jared Russell

We will make sure that, one way or another, this talk gets recorded.

Awesome, thank you guys. We worked on a spline-based path generator after being inspired by 254's, but it never got implemented beyond an interface for creating curves. Would love to see how to take that tool through the next steps.

[Joe Ross]

What level of math are you planning to get into?

[GreyingJay]

Originally Posted by Joe Ross

What level of math are you planning to get into?

Seconding this question.

I have two engineering degrees so I'm not TOO worried about math (well... ok, maybe a little ) but I know a few ninth-graders from my team (y'all call them freshmen, right?) who I would love to bring to this session as long as the math isn't so far above their heads that it would confuse them more than inspire.

[JohnFogarty]

Glad this will be recorded.