AUTONOMOUS! PLEASE HELP!!!

[jhellr13]

Hello,
We are trying to set up a last minute autonomous mode with the default labview code. We are going to use the 3 sensors from the KOP. We have it set to follow the lines, but we are stuck on making the arm move.
How do we program into the code, for the arm to raise x amount, or for x amount of time, when autonomous starts? Also, how do we program for the arm to drop a certain distance or for a certain amount of time, after the tube is put on the peg?
Thanks for the help.
Pictures or an attached modified code would be AMAZING!!!
please help rookie programmer

[kashishhora]

It depends on what kind of motor are you using, and how you're controlling it. Is it a servo directly hooked up to the GPIO, or is it a window/SIM motor hooked up to a jaguar/victor speed controller?

[jhellr13]

Originally Posted by kashishhora

It depends on what kind of motor are you using, and how you're controlling it. Is it a servo directly hooked up to the GPIO, or is it a window/SIM motor hooked up to a jaguar/victor speed controller?

It is a fischer price motor attached to a victor

[eedoga]

We keep flirting with autonomous. We got into it today but couldn't figure much of anything out. Mostly we don't really understand how the line following code is supposed to work. We have the light sensors hooked up and wired properly finally, but we aren't really getting anything that looks like it will work if we put the robot on the ground.
'Here is a screen shot.



Any help would be greatly appreciated.

Edoga

[Alan Anderson]

Originally Posted by eedoga

Mostly we don't really understand how the line following code is supposed to work.

The Line Following Tutorial on the National Instruments site does a good job of explaining it.

[CRLS97]

Originally Posted by eedoga

We keep flirting with autonomous. We got into it today but couldn't figure much of anything out. Mostly we don't really understand how the line following code is supposed to work. We have the light sensors hooked up and wired properly finally, but we aren't really getting anything that looks like it will work if we put the robot on the ground.
'Here is a screen shot.



Any help would be greatly appreciated.

Edoga

Hey there,

I hope you're still able to work on the code although your robot has shipped (hopefully )..

Anyways, make sure you initialize the sensors as IR1, 2, 3 respectively to their DIO port #'s on your DSC in Begin.vi.

As for raising the gripper, controlling motors etc. assuming that you want to save time and have an arm raise while driving forward you could use a case structure in a state method form (not sure what word to use for that) but basically you would use a case structure and one case would be to raise the arm, another to open your claw if necessary, then another to lower down, and finally maybe backup.. To make this happen while your autonomous default code runs, put this structure within the drive while loop and use a shift register to bump the case structure to its next state.

You might also want to watch when the autonomous drive while loop stops in case your lift takes more than the time in the loop (by default) to lift the arm up and then down, etc.