Go to Post Unfortunately, you cannot always tell when some things are jokes on forums, because we only can rely on text and a limited number of smilies. - artdutra04 [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

 
 
 
Thread Tools Rate Thread Display Modes
Prev Previous Post   Next Post Next
  #16   Spotlight this post!  
Unread 23-04-2007, 08:49
Alan Anderson's Avatar
Alan Anderson Alan Anderson is offline
Software Architect
FRC #0045 (TechnoKats)
Team Role: Mentor
 
Join Date: Feb 2004
Rookie Year: 2004
Location: Kokomo, Indiana
Posts: 9,113
Alan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond repute
Re: Most... um... "entertaining" autonomous.

Our robot did something "entertaining" during an early match in St. Louis. We had just finished up our drivebase PID tuning, and had a simple "drive forward six inches" mode selected as a final test. Apparently, one of our wheel encoders developed a broken connection, so the software acted as if one side of the robot was nailed to the floor. What we saw on the field was this:

The 'bot deployed the arm, did at least two full turns in one direction while managing not to scrape the gripper against the field boundary, stopped, did it again in the other direction, ran diagonally across the field, barely missing both alliance partners and the rack, then stopped a few inches short of crashing into the field boundary on the other side of where it started -- not intentionally, but because autonomous mode was over.

"Drive forward six inches" had turned into "drive forward enough to measure 6 inches even with one side not moving, turn in place trying to correct the measured yaw error, overshoot because the robot is actually spinning twice as fast as the software thinks, turn in place the other direction trying to correct the overshoot, get the correction right this time because the too-fast turn is compensated by a too-fast correction, then take off at full speed trying to correct the accumulated position error." That was what I eventually decided was going on in the program, anyway.
 


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
Championship Event - Where the "Random" Match Sorting Really "Shines" Travis Hoffman Championship Event 57 19-04-2007 08:06
A statistical analysis of the "autonomous advantadge" Greg Marra General Forum 51 25-03-2006 21:09
2006 game poll #4 (type of "sensing" in autonomous mode) dhitchco Rumor Mill 1 18-11-2005 12:27
New NEMO White Papers! "Creating a Killer Packet" and "25 Ways to Sponsor" Jessica Boucher Team Organization 0 10-08-2005 10:55
"Thunderbirds" Vs. "Team America" Which one will rule the box office? Elgin Clock Chit-Chat 3 07-09-2004 19:53


All times are GMT -5. The time now is 01:25.

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