Go to Post Please think before you speak. - Cory [more]
Home
Go Back   Chief Delphi > Technical > Programming
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
Closed Thread
Thread Tools Rate Thread Display Modes
  #1   Spotlight this post!  
Unread 21-02-2006, 05:23
Eldarion's Avatar
Eldarion Eldarion is offline
Electrical Engineer / Computer Geek
AKA: Eldarion Telcontar
no team (Teamless Orphan)
Team Role: Alumni
 
Join Date: Nov 2005
Rookie Year: 2005
Location: Númenor
Posts: 558
Eldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond repute
Send a message via AIM to Eldarion Send a message via Yahoo to Eldarion
Team 81's Autonomous Mode

Here is a video of one of our autonomous modes:
http://robotics.dyndns.org/METALHEAD..._Auto_Mode.mpg

I have since repaired a couple things like the fact that the turret was aimed wrong for the first ball, etc., but I don't have any video!
__________________
CMUCam not working? Tracks sporadically? Try this instead: http://www.falconir.com!
PM me for more information if you are interested (it's open source!).

Want the FIRST Email blasts? See here: http://www.chiefdelphi.com/forums/sh...ad.php?t=50809

"The harder the conflict, the more glorious the triumph. What we obtain too cheaply, we esteem too lightly; it is dearness only that gives everything its value."
-- Thomas Paine

If it's falling apart it's a mechanical problem. If it's spewing smoke it's a electrical problem.
If it's rampaging around destroying things it's a programming problem.

"All technology is run on 'Magic Smoke' contained within the device. As everyone knows, whenever the magic smoke is released, the device ceases to function."
-- Anonymous

I currently speak: English, some German, Verilog, x86 and 8051 Assembler, C, C++, VB, VB.NET, ASP, PHP, HTML, UNIX and SQL

Last edited by Eldarion : 21-02-2006 at 05:25.
  #2   Spotlight this post!  
Unread 21-02-2006, 14:15
chris31 chris31 is offline
Team 2021 Captain
AKA: Chris Davidson
FRC #2021 (FA Robotics)
Team Role: Mentor
 
Join Date: Nov 2005
Rookie Year: 2006
Location: Atlanta, GA/ Fredericksburg,VA
Posts: 949
chris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond repute
Send a message via AIM to chris31
Re: Team 81's Autonomous Mode

Nice work! If you post a video of you ball recognition and gathering that would be AMAZING work to watch.
  #3   Spotlight this post!  
Unread 21-02-2006, 14:31
Eldarion's Avatar
Eldarion Eldarion is offline
Electrical Engineer / Computer Geek
AKA: Eldarion Telcontar
no team (Teamless Orphan)
Team Role: Alumni
 
Join Date: Nov 2005
Rookie Year: 2005
Location: Númenor
Posts: 558
Eldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond repute
Send a message via AIM to Eldarion Send a message via Yahoo to Eldarion
Re: Team 81's Autonomous Mode

Quote:
Originally Posted by chris31
Nice work! If you post a video of you ball recognition and gathering that would be AMAZING work to watch.
Unfortunately, our 'bot is on its way to Dreyage right now.

I will, however, be putting the ball-finding system on our demonstration 'bot. It can't pick them up, but it can play "follow the balls"...

When it's done, I'll post a video of that.
__________________
CMUCam not working? Tracks sporadically? Try this instead: http://www.falconir.com!
PM me for more information if you are interested (it's open source!).

Want the FIRST Email blasts? See here: http://www.chiefdelphi.com/forums/sh...ad.php?t=50809

"The harder the conflict, the more glorious the triumph. What we obtain too cheaply, we esteem too lightly; it is dearness only that gives everything its value."
-- Thomas Paine

If it's falling apart it's a mechanical problem. If it's spewing smoke it's a electrical problem.
If it's rampaging around destroying things it's a programming problem.

"All technology is run on 'Magic Smoke' contained within the device. As everyone knows, whenever the magic smoke is released, the device ceases to function."
-- Anonymous

I currently speak: English, some German, Verilog, x86 and 8051 Assembler, C, C++, VB, VB.NET, ASP, PHP, HTML, UNIX and SQL
  #4   Spotlight this post!  
Unread 23-02-2006, 19:36
Eldarion's Avatar
Eldarion Eldarion is offline
Electrical Engineer / Computer Geek
AKA: Eldarion Telcontar
no team (Teamless Orphan)
Team Role: Alumni
 
Join Date: Nov 2005
Rookie Year: 2005
Location: Númenor
Posts: 558
Eldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond repute
Send a message via AIM to Eldarion Send a message via Yahoo to Eldarion
Re: Team 81's Autonomous Mode

I now have a video of our demo robot chasing a ball (warning: 52 megs!)
http://robotics.dyndns.org/METALHEAD...inder_Demo.mpg

You will notice the robot consistently placing the ball towards its left-hand side; this is because I had to mount the camera there.

Mounting details here:
http://robotics.dyndns.org/METALHEAD...a_Mounting.jpg

Let me know what you guys think!

EDIT:
This was in full autonomous mode with a PID loop controlling the driving.
There was quite a bit of slop in the gearboxes, hence the "swaying" at the end when trying to line up to charge at the ball.
__________________
CMUCam not working? Tracks sporadically? Try this instead: http://www.falconir.com!
PM me for more information if you are interested (it's open source!).

Want the FIRST Email blasts? See here: http://www.chiefdelphi.com/forums/sh...ad.php?t=50809

"The harder the conflict, the more glorious the triumph. What we obtain too cheaply, we esteem too lightly; it is dearness only that gives everything its value."
-- Thomas Paine

If it's falling apart it's a mechanical problem. If it's spewing smoke it's a electrical problem.
If it's rampaging around destroying things it's a programming problem.

"All technology is run on 'Magic Smoke' contained within the device. As everyone knows, whenever the magic smoke is released, the device ceases to function."
-- Anonymous

I currently speak: English, some German, Verilog, x86 and 8051 Assembler, C, C++, VB, VB.NET, ASP, PHP, HTML, UNIX and SQL

Last edited by Eldarion : 23-02-2006 at 19:44.
  #5   Spotlight this post!  
Unread 23-02-2006, 22:14
chris31 chris31 is offline
Team 2021 Captain
AKA: Chris Davidson
FRC #2021 (FA Robotics)
Team Role: Mentor
 
Join Date: Nov 2005
Rookie Year: 2006
Location: Atlanta, GA/ Fredericksburg,VA
Posts: 949
chris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond repute
Send a message via AIM to chris31
Re: Team 81's Autonomous Mode

I havent finished downloading it, but i excpect that this is awsome. Any chance that after competition you will share your code?
  #6   Spotlight this post!  
Unread 23-02-2006, 22:49
Eldarion's Avatar
Eldarion Eldarion is offline
Electrical Engineer / Computer Geek
AKA: Eldarion Telcontar
no team (Teamless Orphan)
Team Role: Alumni
 
Join Date: Nov 2005
Rookie Year: 2005
Location: Númenor
Posts: 558
Eldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond repute
Send a message via AIM to Eldarion Send a message via Yahoo to Eldarion
Re: Team 81's Autonomous Mode

All those details still need to be worked out; however I most likely will not be sharing the code.
The FRC interface code possibly, but as I said those details still need to be worked out.
__________________
CMUCam not working? Tracks sporadically? Try this instead: http://www.falconir.com!
PM me for more information if you are interested (it's open source!).

Want the FIRST Email blasts? See here: http://www.chiefdelphi.com/forums/sh...ad.php?t=50809

"The harder the conflict, the more glorious the triumph. What we obtain too cheaply, we esteem too lightly; it is dearness only that gives everything its value."
-- Thomas Paine

If it's falling apart it's a mechanical problem. If it's spewing smoke it's a electrical problem.
If it's rampaging around destroying things it's a programming problem.

"All technology is run on 'Magic Smoke' contained within the device. As everyone knows, whenever the magic smoke is released, the device ceases to function."
-- Anonymous

I currently speak: English, some German, Verilog, x86 and 8051 Assembler, C, C++, VB, VB.NET, ASP, PHP, HTML, UNIX and SQL
  #7   Spotlight this post!  
Unread 23-02-2006, 22:59
chris31 chris31 is offline
Team 2021 Captain
AKA: Chris Davidson
FRC #2021 (FA Robotics)
Team Role: Mentor
 
Join Date: Nov 2005
Rookie Year: 2006
Location: Atlanta, GA/ Fredericksburg,VA
Posts: 949
chris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond repute
Send a message via AIM to chris31
Re: Team 81's Autonomous Mode

Offtopic, but we will be releasing all of our code and most likeing our code for our custom control board which we will post pics after it is made. But this is my first year doing FRC coding so nothing to fancy like a ball recognition code. Btw, the file download is slow. Ill try and mirror it for you once i get a copy.

EDIT: Maybe its just me by the download keeps timeing out.

Last edited by chris31 : 23-02-2006 at 23:08.
  #8   Spotlight this post!  
Unread 23-02-2006, 23:18
Eldarion's Avatar
Eldarion Eldarion is offline
Electrical Engineer / Computer Geek
AKA: Eldarion Telcontar
no team (Teamless Orphan)
Team Role: Alumni
 
Join Date: Nov 2005
Rookie Year: 2005
Location: Númenor
Posts: 558
Eldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond repute
Send a message via AIM to Eldarion Send a message via Yahoo to Eldarion
Re: Team 81's Autonomous Mode

It could be; it is probably the largest file I have hosted yet. I'll see if I can compress it real quick.

EDIT:
Sorry it took so long. Here is a Windows Media streaming file; it's only 27mb.
http://robotics.dyndns.org/METALHEAD...inder_Demo.wmv
__________________
CMUCam not working? Tracks sporadically? Try this instead: http://www.falconir.com!
PM me for more information if you are interested (it's open source!).

Want the FIRST Email blasts? See here: http://www.chiefdelphi.com/forums/sh...ad.php?t=50809

"The harder the conflict, the more glorious the triumph. What we obtain too cheaply, we esteem too lightly; it is dearness only that gives everything its value."
-- Thomas Paine

If it's falling apart it's a mechanical problem. If it's spewing smoke it's a electrical problem.
If it's rampaging around destroying things it's a programming problem.

"All technology is run on 'Magic Smoke' contained within the device. As everyone knows, whenever the magic smoke is released, the device ceases to function."
-- Anonymous

I currently speak: English, some German, Verilog, x86 and 8051 Assembler, C, C++, VB, VB.NET, ASP, PHP, HTML, UNIX and SQL

Last edited by Eldarion : 24-02-2006 at 00:29.
  #9   Spotlight this post!  
Unread 24-02-2006, 15:07
chris31 chris31 is offline
Team 2021 Captain
AKA: Chris Davidson
FRC #2021 (FA Robotics)
Team Role: Mentor
 
Join Date: Nov 2005
Rookie Year: 2006
Location: Atlanta, GA/ Fredericksburg,VA
Posts: 949
chris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond reputechris31 has a reputation beyond repute
Send a message via AIM to chris31
Re: Team 81's Autonomous Mode

AWSOME. Maybe in the off season i will try and get a similiar system up and running.
  #10   Spotlight this post!  
Unread 24-02-2006, 15:12
Denz's Avatar
Denz Denz is offline
Registered User
FRC #0772 (Sabre Bytes Robotics)
Team Role: Programmer
 
Join Date: Jan 2006
Location: LaSalle, Ont, Canada
Posts: 66
Denz is on a distinguished road
Send a message via MSN to Denz
Re: Team 81's Autonomous Mode

That is amazing! Did you get it to track the specific colours on the ball? Are you using that code on your robot? how close does it have to be? lol alot of questions, but it was really cool to see!
__________________
www.sabrerobotics.com
  #11   Spotlight this post!  
Unread 24-02-2006, 17:07
Astronouth7303's Avatar
Astronouth7303 Astronouth7303 is offline
Why did I come back?
AKA: Jamie Bliss
FRC #4967 (That ONE Team)
Team Role: Mentor
 
Join Date: Jan 2004
Rookie Year: 2004
Location: Grand Rapids, MI
Posts: 2,071
Astronouth7303 has much to be proud ofAstronouth7303 has much to be proud ofAstronouth7303 has much to be proud ofAstronouth7303 has much to be proud ofAstronouth7303 has much to be proud ofAstronouth7303 has much to be proud ofAstronouth7303 has much to be proud ofAstronouth7303 has much to be proud ofAstronouth7303 has much to be proud ofAstronouth7303 has much to be proud of
Re: Team 81's Autonomous Mode

Quote:
Originally Posted by Eldarion
You will notice the robot consistently placing the ball towards its left-hand side; this is because I had to mount the camera there.
Interesting. We found that on this year's camera, when the light was reported to be centered, it was actually to the left (causing it to point to the right). On last year's, it was reversed (center was right-ward, causing it to point left).
  #12   Spotlight this post!  
Unread 24-02-2006, 18:01
Eldarion's Avatar
Eldarion Eldarion is offline
Electrical Engineer / Computer Geek
AKA: Eldarion Telcontar
no team (Teamless Orphan)
Team Role: Alumni
 
Join Date: Nov 2005
Rookie Year: 2005
Location: Númenor
Posts: 558
Eldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond repute
Send a message via AIM to Eldarion Send a message via Yahoo to Eldarion
Re: Team 81's Autonomous Mode

Quote:
Originally Posted by Denz
That is amazing! Did you get it to track the specific colours on the ball? Are you using that code on your robot? how close does it have to be? lol alot of questions, but it was really cool to see!
That's OK, I don't mind questions

The system is capable of recognizing and tracking multiple objects of up to 8 different colors under varying lighting and specularity. Distance depends on height; mounted close to the floor like that it could see the ball a good 20 feet away.

I was trying to get it in use for this year's game, but the autonomous period is so short this year!

Quote:
Originally Posted by Astronouth7303
Interesting. We found that on this year's camera, when the light was reported to be centered, it was actually to the left (causing it to point to the right). On last year's, it was reversed (center was right-ward, causing it to point left).
That problem was CMUCam specific; this is not the CMUCam, so the problem isn't there.
However, I did notice that last year, as I had to order a replacement camera. I realized it after the regional, of course!

If anyone has any more questions, feel free to ask away!
__________________
CMUCam not working? Tracks sporadically? Try this instead: http://www.falconir.com!
PM me for more information if you are interested (it's open source!).

Want the FIRST Email blasts? See here: http://www.chiefdelphi.com/forums/sh...ad.php?t=50809

"The harder the conflict, the more glorious the triumph. What we obtain too cheaply, we esteem too lightly; it is dearness only that gives everything its value."
-- Thomas Paine

If it's falling apart it's a mechanical problem. If it's spewing smoke it's a electrical problem.
If it's rampaging around destroying things it's a programming problem.

"All technology is run on 'Magic Smoke' contained within the device. As everyone knows, whenever the magic smoke is released, the device ceases to function."
-- Anonymous

I currently speak: English, some German, Verilog, x86 and 8051 Assembler, C, C++, VB, VB.NET, ASP, PHP, HTML, UNIX and SQL

Last edited by Eldarion : 24-02-2006 at 18:04.
  #13   Spotlight this post!  
Unread 24-02-2006, 21:47
Denz's Avatar
Denz Denz is offline
Registered User
FRC #0772 (Sabre Bytes Robotics)
Team Role: Programmer
 
Join Date: Jan 2006
Location: LaSalle, Ont, Canada
Posts: 66
Denz is on a distinguished road
Send a message via MSN to Denz
Re: Team 81's Autonomous Mode

Last year, there were many problems with the vision tetras, so how are you getting the camera to recognize non lighted targets? I know even in labivew testing, we couldn't track someone with a nice bright green bristol board.
__________________
www.sabrerobotics.com
  #14   Spotlight this post!  
Unread 24-02-2006, 22:05
X-Istence X-Istence is offline
Melt the RC controller!
AKA: Bert JW Regeer
no team
Team Role: Alumni
 
Join Date: Jan 2006
Rookie Year: 2006
Location: Montville
Posts: 151
X-Istence will become famous soon enoughX-Istence will become famous soon enough
Send a message via AIM to X-Istence Send a message via MSN to X-Istence
Re: Team 81's Autonomous Mode

Quote:
Originally Posted by Denz
Last year, there were many problems with the vision tetras, so how are you getting the camera to recognize non lighted targets? I know even in labivew testing, we couldn't track someone with a nice bright green bristol board.

http://www.chiefdelphi.com/forums/sh...ad.php?t=44470

This might explain it a bit. This is just using the CMUcam's camera lens (I believe, don't quote me on it!), not the board it is normally mounted on, or any of the other stuff, this is directly using it with a Linux "motherboard".
__________________
My Blog!
  #15   Spotlight this post!  
Unread 24-02-2006, 23:51
Eldarion's Avatar
Eldarion Eldarion is offline
Electrical Engineer / Computer Geek
AKA: Eldarion Telcontar
no team (Teamless Orphan)
Team Role: Alumni
 
Join Date: Nov 2005
Rookie Year: 2005
Location: Númenor
Posts: 558
Eldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond reputeEldarion has a reputation beyond repute
Send a message via AIM to Eldarion Send a message via Yahoo to Eldarion
Re: Team 81's Autonomous Mode

Quote:
Originally Posted by X-Istence
http://www.chiefdelphi.com/forums/sh...ad.php?t=44470

This might explain it a bit. This is just using the CMUcam's camera lens (I believe, don't quote me on it!), not the board it is normally mounted on, or any of the other stuff, this is directly using it with a Linux "motherboard".
You are correct.

I wrote this system from scratch so that I could correct the deficiencies in the CMUCam that I had to struggle with last year. I have found that it does indeed work under a far greater range of conditions than the CMUCam can handle, including recognizing the (quite shiny) balls. I chose to use the OV7620 camera module because I had learned quite a bit about it and its configuration registers through working with the CMUCam.

Hope this clears some things up.

EDIT:
X-Istence has graciously mirrored the demo video here to lighten the load on my server:
http://personal.x-istence.com/vids/F...inder_Demo.mpg
__________________
CMUCam not working? Tracks sporadically? Try this instead: http://www.falconir.com!
PM me for more information if you are interested (it's open source!).

Want the FIRST Email blasts? See here: http://www.chiefdelphi.com/forums/sh...ad.php?t=50809

"The harder the conflict, the more glorious the triumph. What we obtain too cheaply, we esteem too lightly; it is dearness only that gives everything its value."
-- Thomas Paine

If it's falling apart it's a mechanical problem. If it's spewing smoke it's a electrical problem.
If it's rampaging around destroying things it's a programming problem.

"All technology is run on 'Magic Smoke' contained within the device. As everyone knows, whenever the magic smoke is released, the device ceases to function."
-- Anonymous

I currently speak: English, some German, Verilog, x86 and 8051 Assembler, C, C++, VB, VB.NET, ASP, PHP, HTML, UNIX and SQL

Last edited by Eldarion : 24-02-2006 at 23:55.
Closed Thread


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump

Similar Threads
Thread Thread Starter Forum Replies Last Post
pic: Team 293 Autonomous Mode Spikey Robot Showcase 7 19-02-2006 13:39
Who do you think is the best bet to win the Chairman's Award at the Championship? Koko Ed Chairman's Award 58 29-04-2005 16:39
Free Kittens/Tetra Grabber Mr. Lim Rumor Mill 30 08-04-2005 11:36


All times are GMT -5. The time now is 19:16.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi