1310 3 Tote 3 Container Autonomous

[MrJohnston]

This is actually our natural next step with autonomous - performed just like yours.... We won't have it ready for this weekend, but it may come up as an addition later. I'd be curious:

How consistently are you able to reel in the RC's as well as the totes?

The addition of dragging the RC's almost certainly affects the needed code to help the robot to maintain a proper path. Did that addition affect your consistency with the totes?

[blazingbronco18]

Very amazing. Great job guys. Good luck this season.

[Gregor]

Originally Posted by MrJohnston

This is actually our natural next step with autonomous - performed just like yours.... We won't have it ready for this weekend, but it may come up as an addition later. I'd be curious:

How consistently are you able to reel in the RC's as well as the totes?

The addition of dragging the RC's almost certainly affects the needed code to help the robot to maintain a proper path. Did that addition affect your consistency with the totes?

The three totes and the first two containers are relatively consistent. The third container can definietly use some work, but we also have an autonomous that just does 3 tote 2 container that we can run in the event an alliance partner can bring a tote in.

I'm not much of a programmer but here's what I understand. We're using distance, angle, and angle lock (maintain angle even through uneven weight distribution and container drag) PIDs to compensate for the dragging RCs.

[wireties]

crazy clever!

[Gregor]

Here's a GoPro of our 2 container.

http://youtu.be/qES7Elnn8e0

[JohnFogarty]

One of our other software mentors and I have been talking about doing an auto mode that is pretty much exactly what you've done here the exact same way since day 1 of build season. If only we had the sensors and time to get it done ourselves. Very nice work.

[Jonathan Norris]

Originally Posted by Gregor

The three totes and the first two containers are relatively consistent. The third container can definietly use some work, but we also have an autonomous that just does 3 tote 2 container that we can run in the event an alliance partner can bring a tote in.

I'm not much of a programmer but here's what I understand. We're using distance, angle, and angle lock (maintain angle even through uneven weight distribution and container drag) PIDs to compensate for the dragging RCs.

Great robot 1310. The Einstein mechanum curse has no chance

Couple ideas for auton: you could try driving more towards the wall and use the wall to help you pin the 3rd bin in, or have a longer side arm to allow the bins to "stack" a bit (though they may be more prone to tipping over)

[Jared Russell]

I anticipate this idea being copied by many other teams...a stupidly simple and effective way to pull off a 3 can/3 tote auto!

[jvriezen]

Team 2512 has a three tote stack, 2 bin auto as well, that was quite successful at Northern Lights, although it seemed to be less so Saturday afternoon.

It had a simple drive straight to gather totes approach. Bins were 'fished' up just in time with lines attached to very small aluminum hooks that were positioned on the far side of the first two bins, just under the bin lip. The hooks were held there by lightweight 'stanchions' made of styrofoam bases and vertical pool noodles.

One fishing line originated high on the left side of the bot, the other high on the right.

Auto reeled the RCs in 'just in time' and they dangled at the sides of the bot until the beginning of teleop, when the fishing line was let out to drop the bins and then reeled back to pull up the stanchions without bins.

Not sure why they didn't pull in the third bin as well.. maybe they figured a partner would be able to handle it in most cases (which wasn't the case-- other bots typically disabled their auto when playing with them.)

Sorry, no video link... I'm sure there is one somewhere. And this video at 1:00 is NOT it: https://www.youtube.com/watch?v=85QW3h27lBQ

[allgoodthehood]

Originally Posted by jvriezen

Sorry, no video link... I'm sure there is one somewhere. And this video at 1:00 is NOT it: https://www.youtube.com/watch?v=85QW3h27lBQ

Here's a link

http://youtu.be/K9Z8eQzYMYY?t=2m15s