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Unread 01-03-2006, 08:57
JamesBrown JamesBrown is offline
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How does your auto-aim work?

How does your auto aim work? Did you have the camera drive the pan and tilt motors on your turret until it was aimed right? Did you use encoders to line up the gun with the target? Did you mount the camera with tilt and pan servos to the turret? Or did you do something different?


Our camera searches with the pan and tilt servos. It is mounted to the gun once it as been tracking for a few loops (10 I believe). It pans and tilts the gun until the camera faces the same direction as the gun. This works very well for us, it allows us to shoot while moving in our low gear or to shoot while we get pushed.

So how (if at all) did you do it?
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Unread 01-03-2006, 10:27
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Re: How does your auto-aim work?

The camera finds the target, then uses the pan and tilt angles to grab a pair of positioning numbers from lookup tables. Those numbers are plugged in to the PID control which aims the turret, and then we fire
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Unread 01-03-2006, 14:13
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Re: How does your auto-aim work?

The camera finds the target, calculates range and passes it to some physics equations which give speed. Speed of shooter wheels is controlled with PD loop, same with turret position.
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Unread 01-03-2006, 14:44
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Re: How does your auto-aim work?

Our camera is mounted stationary on top of the shooter... we have two pots to keep track of the pan and tilt of the turret.... we find the pot value when the turret is center and the pot when the shooter is a 45 degrees, then use that center value to line the turret up with the camera servo pan, through the ratio of servo steps to pot steps, for the tilt, we take the servo tilt convert it to a degree, take the turret tilt (from the pot) convert that to a degree and then pass those through a lookup table generated from a physics equation to acuatly position the tilt.
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Unread 01-03-2006, 15:17
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Re: How does your auto-aim work?

We don't aim tilt automatically... it seems kind of pointless. You can hit the goal with the same tilt from a variety of distances, it's easier to just have the human driver do that. We have the camera mounted in the pan/tilt gimbal provided on the panning base of the shooter. The camera tries to track constantly, and when our Easy Button is depressed a PID loop tries to center the camera. It works quite well, only occassionally oscillating a bit when it's up close to the goal, but altering the PID equation to account for distance from the target could fix this.
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Unread 01-03-2006, 15:28
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Re: How does your auto-aim work?

operator pulls the turret triger the camera locks on to the target and the turret then turns in an atempt(a very good attempt If I might add) to get the camera to 128. . . then if the operator hits his thumb switch the robot will look at the camera tit then looks up that value in a table and sets the cannon to that speed
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Unread 01-03-2006, 15:35
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Re: How does your auto-aim work?

We have no turret, and thus we didn't need servos. The camera is bolted (pop-riveted, whatever) right next to the shooter. The chassis driver holds the two top buttons down and the code takes over, aiming the robot by adjusting the drive motors in a PI loop. When the robot is ligned up a LED on the OI tells driver 2 that he can fire without missing. The LED actually turns on whenever it is aimed correctly, even if it's not being centered. It provides a nice way to tell if the robot is going to score a 3-pointer or poof someone in the head.
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Unread 01-03-2006, 16:46
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Re: How does your auto-aim work?

The camera has a tilt axis only. The camera's pan is locked to our turret. I am using a lookup table that maps camera angle to gun angle. I wrote a nifty script to generate the lookup talbes using quadratic interpolation given a few points generated through trial and error. A PD control loop is used on both the pan and tilt axis. There is a FIR-like filter on the D term of the tilt. If the camera looses sight of the target the turret reverts to manual control mode. It is up to the turret driver to get the target back in sight.

To determine the position of the pan and tilt axis we have an encoder on each as well as a limit switch to determine "home" position. When the robot is power up, both axis automagically find their home position. At this point, the pan encoder is really only used to make sure we don't try to spin the turret around too many times and for the magic button that goes back to come posistion. The OI has "target locked" and "ready to fire" lights.
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Last edited by Rickertsen2 : 01-03-2006 at 22:08.
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Unread 01-03-2006, 17:55
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Re: How does your auto-aim work?

Camera is mounted on the robot, and is free to move with pan and tilt servos. When align trigger is pressed, the robot aligns itself with the target. When then shoot trigger is pressed, the camera takes the tilt angle, puts it into a table of values and gets the correct motor speed generated by trial and error testing. Then all we have to do it FIRE! We also have LEDs writed from the OI that turn on and off according to alignment, correct speed, camera on/off things like that.
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Unread 01-03-2006, 19:23
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Re: How does your auto-aim work?

Camera is mounted to the pan table, a PI loop (No pun intended, but no D either) drives the pan motor until the camera says the target is straight ahead. We also use a PI loop with a potentiometer to control tilt based on camera tilt angle. We liked the idea of only one sensor, while maintaining the camera's ability to look around for the target without being hindered by being tilted too.

Don
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Unread 01-03-2006, 22:07
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Re: How does your auto-aim work?

Quote:
Originally Posted by Don Rotolo
Camera is mounted to the pan table, a PI loop (No pun intended, but no D either)...
Don
Why PI instead of PD or PID?
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Unread 01-03-2006, 23:05
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Re: How does your auto-aim work?

Quote:
Originally Posted by Eldarion
The camera finds the target, calculates range and passes it to some physics equations which give speed. Speed of shooter wheels is controlled with PD loop, same with turret position.
If you graphed it ahead of time, you wouldn't need to both with the physics equations... or even with variable speed. There is a somewhat "ideal" arc that stays within the correct height for almost 25 feet
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Unread 02-03-2006, 08:24
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Re: How does your auto-aim work?

Quote:
Originally Posted by Goldeye
If you graphed it ahead of time, you wouldn't need to both with the physics equations... or even with variable speed. There is a somewhat "ideal" arc that stays within the correct height for almost 25 feet
This "ideal" arc varies drastically depending on the angle you shoot at and the height of your shooter though; the one on ours I think couldn't get us past 19 feet with the optimal setting.
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Unread 02-03-2006, 08:07
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Re: How does your auto-aim work?

Quote:
Originally Posted by JamesBrown
How does your auto aim work? Did you have the camera drive the pan and tilt motors on your turret until it was aimed right? Did you use encoders to line up the gun with the target? Did you mount the camera with tilt and pan servos to the turret? Or did you do something different?


Our camera searches with the pan and tilt servos. It is mounted to the gun once it as been tracking for a few loops (10 I believe). It pans and tilts the gun until the camera faces the same direction as the gun. This works very well for us, it allows us to shoot while moving in our low gear or to shoot while we get pushed.

So how (if at all) did you do it?
first I have little experience in code but have plenty of mechanical brainpower. this year we have a code that will auto adjust for aiming. first we made a code that would read where the camera is currently pointing, which I believe is a positive or negative integer. based on this we were able to know where the target is because theoretically it is always aimed at the target. we also made a zero point on the camera that is where the camera is looking dead ahead of our robot and since or shooter doesn't tilt or turn we have to turn the robot to aim. we made so that when we think we are in a reasonable distance we flip a switch and the code basically turns the robot till the camera/code will read that the camera is at our zero/dead ahead setting which should put us aimed right at the target then we push another button and BOOM score, we hope!
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Unread 03-03-2006, 21:19
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Re: How does your auto-aim work?

we have our camera mounted to the top of our launcher. The launcher is located on the side of the robot, and is not a turret but it does tilt. We use the difference in the x values to determine how far away we are and we use it to determine if were centered. Right now we drive out dead reconing, and then the turn stops one the camera aligns with the target, then we open her up. Today we were scoring in between 7 and 9 of the 10 balls in autonomous.
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