Image Discuss: Team 190 "INS"

[Deej]

We did a few things here.....the first is that we designed an Inertial Navigation System (INS for short) that used a gyro to detect our heading on the field. It also used a dual axis accelerometer (x and y axis). Based on knowing our lateral accelerations and conversions and our heading, we are able to know where exactly we are on the field at all times (well the computer knows). this was our main navagation device during autonomous mode. this system also allowed us to use "heading hold" which when utilized, maintained a straight track, and if we were pushed off course, the motors would automatically course correct. In Houston, our INS system was not working correctly (funny how in seattle the weekend before it did), but the judges were really impressed with our control setup for the operators. we were able to use 16 different preset autonomous modes, using a rotary switch, and also determine where on the field we would go using x and y coordinates on our box. we also had a few automatic functions, like restow our wings, extender, and pitch in one button push. the different autonomous modes also allowed us to see out on the field who we were up against and paired with, and make ont he fly decisions, like after we set up on the field before we stepped away from the controls, see where the opponents lined up, and make a quick change if necessary before the match. Hope that answers the questions.