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Unread 16-10-2011, 19:24
Peter Johnson Peter Johnson is offline
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Video: Team 294 driving telescope with Kinect

We mapped the left and right arm controls to our 2011 telescope and wrist today. Left arm controls the telescope height, right arm controls the wrist angle. Definitely stopped work in the lab for the interactive demonstration! Obviously the gains could use some additional tweaking, but it was pretty fun to see working.

Video is on YouTube: http://www.youtube.com/watch?v=iFsYMiGbDss

We used RobotPy for 2011 competition, so the robot code is Python for this demonstration as well.
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Unread 16-10-2011, 19:27
Andrew Lawrence
 
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Re: Video: Team 294 driving telescope with Kinect

What's the orange banana costume for?
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Unread 16-10-2011, 19:44
Peter Johnson Peter Johnson is offline
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Re: Video: Team 294 driving telescope with Kinect

Quote:
Originally Posted by SuperNerd256 View Post
What's the orange banana costume for?
It's our team captain wearing our surfboard mascot. Per the i.am.first video (http://www.youtube.com/watch?v=vLMOKM4QKcE, about 7 minute mark), our mascot could be interpreted as a banana or sweet potato, but is actually a surfboard.

The Kinect control does work a bit better without the costume (as the costume makes the head look really big to the Kinect), but we thought it'd be fun for the video.
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Unread 16-10-2011, 19:45
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Re: Video: Team 294 driving telescope with Kinect

Banana? I thought that was a surf board.
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Unread 16-10-2011, 19:47
Andrew Lawrence
 
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Re: Video: Team 294 driving telescope with Kinect

Quote:
Originally Posted by Peter Johnson View Post
It's our team captain wearing our surfboard mascot. Per the i.am.first video (http://www.youtube.com/watch?v=vLMOKM4QKcE, about 7 minute mark), our mascot could be interpreted as a banana or sweet potato, but is actually a surfboard.

The Kinect control does work a bit better without the costume (as the costume makes the head look really big to the Kinect), but we thought it'd be fun for the video.
Sorry, my bad! I forgot you guys were 294, and your mascot was a surfboard. So when I watched it, my first thought was, "Why is the driver wearing and orange banana?"

Great video, and great maneuvering! As a driver, I could never control a robot like that.
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Unread 16-10-2011, 20:01
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Re: Video: Team 294 driving telescope with Kinect

Bwahaha that part at ~28secs makes me laugh. The height factoring in is going to play a role I feel. And looks like to keep with the game we're going to have to go ahead and buy a Kinects and start messing around with it.
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Unread 16-10-2011, 20:32
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Re: Video: Team 294 driving telescope with Kinect

Very Cool!!
Nice work people!
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Unread 16-10-2011, 21:43
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Re: Video: Team 294 driving telescope with Kinect

Quote:
Originally Posted by CalTran View Post
And looks like to keep with the game we're going to have to go ahead and buy a Kinects and start messing around with it.
I don't know if you're aware or not, but every Kit of Parts for the 2012 season will have a Kinect. (http://www.youtube.com/watch?v=hlgA2nlXUF8)
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Last edited by Tommy F. : 16-10-2011 at 21:45.
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Unread 16-10-2011, 21:48
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Re: Video: Team 294 driving telescope with Kinect

True, but I don't believe six weeks is long enough to get, code, and mess around with one.
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Unread 16-10-2011, 22:12
msimon785 msimon785 is offline
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Re: Video: Team 294 driving telescope with Kinect

Quote:
Originally Posted by CalTran View Post
Bwahaha that part at ~28secs makes me laugh. The height factoring in is going to play a role I feel. And looks like to keep with the game we're going to have to go ahead and buy a Kinects and start messing around with it.
Coming from a mechanical background and not a programming one, I wonder whether scaling the heights will solve the height issues. In other words, you can set it such that when the a button is pressed (this can be a physical button, such as a joystick button or something on the Classmate DI dashboard), the Kinect will calibrate the highest hight of the hand as the top of the mast. To be clear, create a calibration system that registers the height of the hands at any given time the button is pressed to be the highest point on the mast.

1515 did this, while not to interface with a Kinect, in the 2011 season. Each time our robot's mast hit the base-pan, thus triggering a vex limit switch, the position was registered as 0. I can put you in contact with our programmers (Java) if you're interested in more detailed information.

Nonetheless, it looks and works fantastic. I am really impressed by the consistency in the Kinect's interpretation of joint positioning. Great job.
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Unread 16-10-2011, 22:24
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Re: Video: Team 294 driving telescope with Kinect

Quote:
Originally Posted by CalTran View Post
True, but I don't believe six weeks is long enough to get, code, and mess around with one.
The mission of the Beta Test teams is to REPORT ALL FINDINGS and also hold public seminars for all teams. I know that is not the same as playing with a Kinect yourself, but I am sure that all of the teams will try to make it so that you can get something working very early in the build season.
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Unread 16-10-2011, 23:01
Peter Johnson Peter Johnson is offline
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Re: Video: Team 294 driving telescope with Kinect

Quote:
Originally Posted by msimon785 View Post
Coming from a mechanical background and not a programming one, I wonder whether scaling the heights will solve the height issues. In other words, you can set it such that when the a button is pressed (this can be a physical button, such as a joystick button or something on the Classmate DI dashboard), the Kinect will calibrate the highest hight of the hand as the top of the mast. To be clear, create a calibration system that registers the height of the hands at any given time the button is pressed to be the highest point on the mast.
Actually the issue in this case was the costume; the "head" is interpreted as the top of the surfboard, so the arms seem pretty short in comparison. It scales properly (and generally works much better) without the costume, but the costume made for a much better video
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2010 FRC World Champions (294, 67, 177)
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2001 FRC National Champions (71, 294, 125, 365, 279)
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