Using IFI Controller witout Operator System

[703pascal]

Hi, my school is working with something called the Lemelson-MIT InvenTeam. Certain schools are chosen to invent some type of machine that will does not currently exist and that has a practical purpose. Our team is building a robotic athletic field striper. To do this we are using the IFI robotics controller. The only problem is that this robot is completely autonomous and it doesn't run by remote control. Currently, the robot won't run unless it has a signal from the operator system (joysticks and such) or if it is tethered to the operator system. We need the robot to run without this, any suggestions? I believe there is code we can edit so that it can run without it. The EDUbot doesn't require anything to be connected so I'm checking out code differences currently but I haven't come up with anything. Any help would be greatly appreciated.

[Bharat Nain]

You could put the Operator interface right next to the OI. And yes, you can edit the code(don't ask me how, I will let you know if I find out), but you could save more money by going and researching some other systems built for autonomous programming. I have no researched into this myself, so I hope someone else will pop in and help you with this.

[Dave Flowerday]

Check the RC Reference Guide (emphasis mine):

Originally Posted by IFI Robot Controller Reference Guide

Autonomous Mode means that the RC will ignore all data from the Operator Interface and it will not require a link with the Operator Interface to execute code.

If you wish to run the Robot Controller exclusively in Autonomous Mode, one way to do this is to set your team number to zero. This is done by setting the team number on your OI to zero, linking your OI and RC by tether, and then disconnecting from tether. After your RC is reset it will be in Autonomous Mode.

[703pascal]

Why thank you, I'll try that out.

[703pascal]

Does the code go in the regular user_routines.h file or under autonomous code in user_routines_fast.h?

[Bharat Nain]

Originally Posted by 703pascal

Does the code go in the regular user_routines.h file or under autonomous code in user_routines_fast.h?

user_routines_fast.c

There is a note saying //Insert autonomous code here

[RyanMcE]

My understanding is that simply editing the autonomous code will not allow the robot to operate without the operator interface. Yes, the code will run, but the outputs will remain null. This is because of the way in which the IFI system is designed.

As I understand it, there is a chip on either side of the I/O of the microprocessor in the robot controller. The one on the input side disallows all input from the OI during autonomous mode. The one on the output side disallows all output from the RC when it is not connected to the OI, or when the robot is disabled. This is for safety, which is very important to FIRST. If the robots, which weigh as much as many people, and are considerably more powerful in many circumstances, could drive around when the referees wanted them disabled, that would be disasterous. The IFI system simply does not allow it.

Now, the other suggestion on here, which is basically piggy-backing the OI on top of the RC, tethered, should work.

Good luck with your project.

[Matt Krass]

He might be right, I've never tried a auton run with team zero and no OI, it just may not go. If that is the case, instead of piggybacking it, you might want to consider the Edu-Robo-Whatevertheheckitscalled RC, it'll run the same (well nearly same) C code, drive the same Spikes/Victors/Whatevers, runs on 7.2 volts, is lighter and is designed to operate completely autonomously..

[devicenull]

I have, team zero and no oi attached works fine Stopping it is a whole different matter though.

[RyanN]

Does anyone know how to do this with a 2003 or earlier RC that runs PBASIC? I have one right here (since I know how to program PBASIC and not C) and would love to run it without the operator interface but team zero isn't working for me... If anyone knows, please tell me or PM me.

[RyanN]

Anybody? Maybe some tips? Explain what you would normally do? Help? Please?

[Dave Flowerday]

Originally Posted by RyanN

Does anyone know how to do this with a 2003 or earlier RC that runs PBASIC? I have one right here (since I know how to program PBASIC and not C) and would love to run it without the operator interface but team zero isn't working for me... If anyone knows, please tell me or PM me.

That feature didn't exist in the old RCs. You must have the OI connected (either tethered or radio).

[Pat Fairbank]

Originally Posted by RyanN

Does anyone know how to do this with a 2003 or earlier RC that runs PBASIC? I have one right here (since I know how to program PBASIC and not C) and would love to run it without the operator interface but team zero isn't working for me... If anyone knows, please tell me or PM me.

I definitely remember testing autonomous modes in 2003 by setting the team number dipswitches on the RC to zero. However, it won't work if you have a pre-2003 RC, since autonomous mode only came into existence for the 2003 game.