|
|
|
![]() |
|
|||||||
|
||||||||
![]() |
| Thread Tools | Rate Thread | Display Modes |
|
#46
|
||||
|
||||
|
Re: What to do with autonomous
Quote:
Just curious. |
|
#47
|
||||
|
||||
|
Re: What to do with autonomous
Quote:
Quote:
Quote:
Like Mike said in a previous post, we didn't need a whole lot of precision. If we wanted to ram a stack (whether freestanding or the group on the ramp), we just had to make sure that the stack ended up in front of our robot. Our wheel slippage (in normal situations) was * minimal on the carpet in normal situations * slight climbing the ramp * measurable on the ice (HDPE) * negligable descending the ramp Therefore, we didn't design programs that spent significant time on the ice. Our double-hit program (hit the left side of the stack, come back, hit the right side of the stack) consistently cleared a good portion of the bins, but was slightly inconsistent due to the slippage on the ramp. In situations where we came head-to-head with another robot, there was a good chance that we deflected during the collision and recorrected our heading to squeeze past and continue on. If is was the type of collision that stopped us dead in our tracks, that was a different story. Luckilly, those types happened on the ice which allowed our wheels to slip and not burn motors. Quote:
|
|
#48
|
||||
|
||||
|
Re: What to do with autonomous
Quote:
But the basis of the algorithm was knowing our current position (from our custom circuit) and the position of our next point, then using some trig to get the angle to the target. After we got the target angle we figured out what angle we needed to turn our wheels to by subtracting or adding the target angle and our robot's angle relative to the field (also from the CC). This calculation ws done each time we executed our main loop, which turned out to be 3-4x slower than the 26ms IFI loop. The theory was simple, but getting it to work consistently with the tools IFI gave us was difficult. And keeping all the PBASIC code readable & understandable was a big challenge. |
|
#49
|
||||
|
||||
|
Re: What to do with autonomous
Quote:
I made some tests following the line, actualy, many of them. The best results came out using six sensors! Use them in V, and put them as far as you can from the robot's rotation center, keeping a distance of 6'-7' between the center sensors, so the robot can go with two or three corrections only. In 30 times we got there everytime between 7 and 8 seconds, never loosing the line. The limit is your drive system! |
![]() |
| Thread Tools | |
| Display Modes | Rate This Thread |
|
|
Similar Threads
|
||||
| Thread | Thread Starter | Forum | Replies | Last Post |
| A better autonomous method.. | randomperson | Programming | 4 | 24-02-2004 18:02 |
| Electrical componenets for autonomous navigation | maclaren | Electrical | 10 | 18-12-2003 02:28 |
| crazy idea for autonomous | Mike Ciance | Programming | 16 | 24-04-2003 21:50 |
| autonomous mode problem on field | Chris_C | Programming | 17 | 26-03-2003 19:11 |
| Autonomous Kill Switch | UCGL_Guy | Programming | 8 | 15-01-2003 17:39 |