Integrating Computer Vision with Motion Control - FIRST Championship Conference

[Jared Russell]

Originally Posted by pmangels17

I think it will be addressed, but I would be curious to hear exactly how much control on 254 is done by drivers vs with vision. What are your failsafes if the vision board suddenly crashes/shorts/explodes?

The operator holds a button saying they want to auto aim, and the driver holds a button saying that it's okay to shoot. Everything else is autonomous.

[JesseK]

Originally Posted by Jared Russell

The operator holds a button saying they want to auto aim, and the driver holds a button saying that it's okay to shoot. Everything else is autonomous.

Hmm - including sensing on the intake and ball pre-positioning?

[Jared Russell]

Originally Posted by JesseK

Hmm - including sensing on the intake and ball pre-positioning?

The intake also has some automation but no, I was speaking about the aiming and shooting subsystem.

[wesleyac]

Do you guys find that it's easier to accurately position the turret than it is to turn the drivetrain? That gif is really impressive, and I'm wondering how much of that is the turret being mechanically easier to control. Do you do any motion profiling on it, or is it just PID?

I'm looking forward to your talk!

[Jared Russell]

Originally Posted by wesleyac

Do you guys find that it's easier to accurately position the turret than it is to turn the drivetrain? That gif is really impressive, and I'm wondering how much of that is the turret being mechanically easier to control. Do you do any motion profiling on it, or is it just PID?

I'm looking forward to your talk!

The turret is just running position PID (onboard a CAN Talon SRX). Turrets are much easier to control than a drivetrain (inertia, friction, and skidding are basically non-issues).

[billbo911]

Originally Posted by Jared Russell

The turret is just running position PID (onboard a CAN Talon SRX). Turrets are much easier to control than a drivetrain (inertia, friction, and skidding are basically non-issues).

I assume you are using the camera to generate the set-point. Are you closing the loop with the camera as well, or are you using some other sensor like a gyro or encoder?

[4AngryNutjobs]

Cannot wait for the talk! My team has struggled inplementing vision in the past, and I am sure this conference will help a bunch! Once the video is posted can someone share the link below?