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Unread 25-05-2012, 10:32
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Hjelstrom Hjelstrom is offline
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Re: paper: 987 Kinect Implementation

Quote:
Originally Posted by slijin View Post
One of the things that I recall very vividly during Curie finals was that your turret was constantly in motion, and would turn to remain aimed at the region around the center backboard (although if you drove around long enough, it would eventually drift away).

Were you constantly auto-aiming your turret in the main control loop with the Pandaboard-processed data, or was that something else entirely? I ask because in your paper you say
Well its hard for me to say. The turret has several control modes. It can hold its current orientation, it can respond to a point-click command from the operator, it can be manually turned with the joystick and it can auto-aim. Brandon who is the operator and programmer could tell you for sure but I suspect you were seeing a combination of point-click commands with the turret "holding" in between. (as the robot drives, the turret compensates)

We did use the turret very liberally. It could shoot in any direction with equivalent accuracy so the driver often didn't worry about what orientation the robot was in, just get within range and stop.
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