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Unread 04-01-2014, 01:04
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FRC #1706 (Ratchet Rockers)
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Re: Complete Autonomous Robot

Quote:
Originally Posted by magnets View Post
This has popped up in the past before, and while I'm a huge fan of trying to automate different things the driver must do (climb, shoot/reload, balance, hang...), I don't see a fully autonomous robot being possible with any of the previous games(but we have yet to see the 2014 game).

Lets take an average fully autonomous robot. It would have to know where it is on the field to get from the pyramid to the feeder station. There isn't an easy way to do this. Teams have used follower wheels, but they slip and aren't accurate over an entire match. From experience, you're not going to get rotational accuracy over an entire match with just a gyro. If you go for the acceleromter/gyro/magnetometer combo, you'll be +/- 15 degrees at the end of the match. That being said, I'm sure there are creative solutions to these problems that a FRC team can find, it's just a matter of finding them.

Creating a fully autonomous robot is a really, really ambitious project, and you should make sure your team is on board with the plan. On the team I've been with, the controls team has two rules, as simple as possible, and if the driver can be trained to do it faster than we can program it, then the driver does it.
Some backstory to this: We created a demo west coast drive train for practice and to get familiar with it because we have always built tall and heavy robots (there is nothing wrong with that, we have done great in the past with them), but we have zero experience with the short, ~90 lbs, 15fps robot, so we wanted to try it out. We got it done in august. So we had nothing to do. In November a mentor suggested a mini challenge.

Here it is: 2 sides with a 5 foot semi circle on the short side against the wall. in the center of it raised on the wall will be either the 2012 target or 2013 target. In the middle are traffic cones and a defending robot. To get points the robot has to go from semicircle to semicircle (there and back). Points are deducted if you push over a traffic cone. We had everything programmed on the vision side and almost had the path planning worked out in this short time, but sadly we never got to implement it. Our simulations worked though. We could feed our xz image of the depth map and a star would find a path, and we'd send it to the cRIO as a series of vectors.

I've addressed the errors with gyros. We have had some trouble with gyros in the past with them climbing. We had a quick fix of doing a gyro reset, but that was a temporary fix. So, we can use the camera pose to tell us our angle of rotation in all 3 degrees, as well as position.
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