double cap videos

[apalrd]

Originally Posted by lineskier

What did the 33 use for sensors?

I'm guessing a range finder and gyro.
Probably a pot on the arm...

Drivetrain:
(2) encoders

(1) 150degree/second gyro (we can saturate it in high gear, we run auto in low).

Elevator:
(1) 10-turn pot on the elevator
(1) 270-degree pot on the wrist

No range finders. No camera. No line following.

Much of the straightness and turning accuracy comes from the DualDrive. Ask us about it if you see us, basically we can independently move the rear two wheels on our 8wd to switch stance (fully automatically).

During auto, the elevator inputs are fed through the same state-machine that runs in teleop. It has its own thread that just listens for state requests and handles them, so if I want to do anything in auto, I can just call the set state machine VI and it will handle the rest.