Go to Post Look at the success of the Banebot's gearboxes this year. Cheap, light, small, and a lot of people are using them, even though their quality may be a bit questionable... Make a similar gearbox for a drivetrain (with a bit more robustness) and I think you've got a winner. - Ben Piecuch [more]
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Unread 13-02-2006, 09:23
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Greg Marra Greg Marra is offline
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Re: How does disabled mode work?

They have ruled that it is legal to operate the camera servos from the camera's on board PWM controls before the match starts. We did this last year, and the robot would determine which vision tetras was out before the other teams finished setting up .
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Unread 13-02-2006, 11:25
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Re: How does disabled mode work?

It's perfectly fine to read sensors while the robot is disabled. In fact, sometimes it's important to do so. For example, when you're using a solid-state gyro, you need to calibrate it before you start moving, and you need to read it consistently in order to track your heading.

The camera is considered a sensor rather than an actuator. If its servos are only controlling the direction it's looking, having those servos active even when the robot is disabled is permitted.

Changing this year's camera code to use camera-connected servos is neither trivial nor obvious. I think it might actually have worked better if I had started with last year's code instead.
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