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 FIRST cannot enforce Gracious Professionalism on the participants in this program, you will have to do it on your own. - Ken Leung [more] |
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| FIRST cannot enforce Gracious Professionalism on the participants in this program, you will have to do it on your own. - Ken Leung [more] |
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#1
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pic: FRC1899 Control Board
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#2
21-03-2011, 16:09
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Re: pic: FRC1899 Control Board
That's probably the coolest control system I've seen so far. Have you considered adding scale model driver stations and pegs?
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#3
21-03-2011, 16:19
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Re: pic: FRC1899 Control Board
We did a similar controller this year as well. Although, we only controlled one axis. We made a scale model of our robot's arm geometry. We found that because the rotational axis moved greater than 270 deg. normal potentiometers would not cover the entire range of travel. So, we replaced the standard potentiometers with continuous rotation pots.
  Here is the "secret sauce" we used for scaling. The robot controller supplies +5vdc to an analog input device. The Cypress board only provides +3.6vdc. So we simple multiplied the sampled voltage from the Cypress by (5/3.6)=1.389. Here is the logic: At one end of travel, both pots will give you 0vdc. At the other end, one will give you 5vdc and the other 3.6vdc. Both travel the exact same distance, so scaling is linear, just multiply the lower value by the scaling factor and now they are identical throughout the range of travel.
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#4
21-03-2011, 16:34
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Re: pic: FRC1899 Control Board
Do you have video of this working? I'd love to see it!
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#5
21-03-2011, 17:27
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Re: pic: FRC1899 Control Board
That's darn cool. And I thought we were clever with our pre-set positions...
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#6
21-03-2011, 18:18
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Re: pic: FRC1899 Control Board
Quote:
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#9
22-03-2011, 00:13
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Re: pic: FRC1899 Control Board
Awesome control board, this is deffinatly inspirational! I'll be by your pit in St.Louis to check it out!
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#10
22-03-2011, 00:15
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Re: pic: FRC1899 Control Board
In this picture, you can see some magnets embedded into the wooden panel. There are small pieces of metal on the scale model. The magnets are our version of the presets, having 6 magnet locations of the rack and one for transport mode. There is a physical barrier (small block of wood) that denotes the ground for tube pickup. There are youtube links in that picture thread.
Autonomous mode is on when the arm is "tucked away" under the robot, making all of the pots at their most extreme values. We had an excellent freshman operating the arm. Best part of it? He understands every bit of programming behind it.  Last edited by penguinfrk : 22-03-2011 at 00:18.
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