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Unread 12-01-2005, 16:23
Kevin Watson's Avatar
Kevin Watson Kevin Watson is offline
La Cañada High School
FRC #2429
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Re: Kevin Watson's Kick-off Demo Code!

Quote:
Originally Posted by SlimBoJones
Kevin's done a great job again this year! The IR and encoder code he supplied last year was outstanding, and I had a chance to quickly flip through his code providing gyro, PID, and navigation scripting. See http://kevin.org/frc/ the first link.

This year is going to be a LOT of fun! Thanks Kevin!
Thanks, but a lot of credit goes to Rich Petras who wrote the PID and scripting code. Rich is on the MER navigation software team and is one of the original MER "drivers".


Quote:
Originally Posted by SlimBoJones
1) I think you'll need to source two encoders (not in the kit) to work with this code. The gear tooth sensors included in the kit may not cut it, unless you buy two more, and are clever about aligning them to simulate a quadrature output.
You don't really need more than one per wheel. You can garner your rotational information from the motors commanded direction.


Quote:
Originally Posted by SlimBoJones
2) There is no camera code in here. So for teams looking to use the some combination of camera navigation, navigation scripting, and position sensing via encoders and gyro, you'll need to fuse the two together. So don't get too excited about things being TOO easy.
This is an understatement <grin>.


Quote:
Originally Posted by SlimBoJones
3) Will the included gyro code work with the accelerometer provided in the kit? Plug and play I hope?
The idea is the same: Sample the heck out of the analog signal and downsample (average), but fundamentally they are very different sensors.


Quote:
Originally Posted by SlimBoJones
I didn't pick up on what kind of gyro Kevin Watson used for the demo robot.
We used a Silicon Sensing Systems gyro because we had two of 'em on hand for Rich and I to both be able to work with. We weren't too happy to see as much drift as we saw, so I'd suggest using the ADXRS150EB or ADXRS300EB, which I've had pretty good luck with.

-Kevin
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