Post URL to your autonomous mode

[Doug Leppard]

Originally Posted by Chris Marra

These particular videos, since they are Wildstang-provided and not by SOAP, are encoded with the xViD codec, which is technically superior to Windows Media. You can find a copy of it here: http://www.xvid.org/Downloads.15.0.html

I used to have that on my computer. But either way both media editors can not use this format. sorry.

[DanDon]

Here is a link to a compilation on youtube.

http://www.youtube.com/watch?v=36Em65OpwCY

If you need it, I can put the file up on a filesharing site.

All navigation was done based on camera feedback, with a gyro used to stabilize the robot while scoring the keeper itself.

[ldeffenb]

386's most successful autonomous modes can be seen on YouTube at

Archimedes Autonmous (all 14) - http://www.youtube.com/watch?v=9iZxxcQADhM

Palmetto Q29 (double retry) - http://www.youtube.com/watch?v=M_2BXB8aMU8

Palmetto Q57 (sweet spot) - http://www.youtube.com/watch?v=McvLJym0lhg

There's also a 4th video at:

Palmetto Q49 (run through the rack) - http://www.youtube.com/watch?v=b8uEfDExUR4

Our "Center Best" autonomous mode (the best of 14 modes including "Martian Rock") works like this:

1) Look for lights from the starting position

2) If we see two lights (very wide rectangle), make a choice:
2a) Centroid near the center, choose the dark foot
2b) Otherwise choose left or right depending on which the centroid is closer to

3) If the centroid is near enough the center, skip the next step

4) Attempt to acquire "the beam" (straight out from the foot) by turning the robot to move and track the centroid on the OPPOSITE side of the viewfinder as what it currently is. Continue driving this arc until the rectangle is either wider than it is tall or the tilt of the camera indicates that we're too close.

5) After arriving "on the beam" or if we start out with the light in the middle, drive the robot tracking the centroid in the center of the viewfinder using a PID controlling the speed targeting a pre-determined camera tilt value which puts the front of the robot about 2-4 inches INSIDE the rack.

6) When (if) the Easy button trigger hits the spider foot, activate scoring by dropping our face, cutting the vacuum (dropping the tube), raising the face and simultaneously backing the robot away from the rack. This is the same scoring sequence used automatically in tele-operated mode which is what made our robot so quick to score and hard to defend. We had no communication delay between the drive and manipulator when scoring.

7) If we arrive at too close a tilt or it takes too long to hit the trigger or the number of lights change, engage a retry sequence that backs the robot up a bit, waits for a new light acquisition, and goes back to step 5. This is why TyRap VII would back up sometimes during its approach to the rack, sometimes even right at the start which was rather disconcerting to the drive team.

To see some of our less-than-successful attempts at side and reverse (other end) scoring, pull the Palmetto and UCF autonomous from BitTorrent.

Lynn (D) - Team Voltage Video Hustler

PS. There are MPG versions of these available via BitTorrent at http://ldeffenb.dnsalias.net:30049 Look for the 2007 386 Autonomous *.mpg .torrents.

[Doug Leppard]

Originally Posted by dhoizner

Here is a link to a compilation on youtube.

http://www.youtube.com/watch?v=36Em65OpwCY

If you need it, I can put the file up on a filesharing site.

All navigation was done based on camera feedback, with a gyro used to stabilize the robot while scoring the keeper itself.

I can't used youtube. Give me a url where file is.

[Doug Leppard]

Originally Posted by ldeffenb

386's most successful autonomous modes can be seen on YouTube at

Archimedes Autonmous (all 14) - http://www.youtube.com/watch?v=9iZxxcQADhM

Palmetto Q29 (double retry) - http://www.youtube.com/watch?v=M_2BXB8aMU8

Palmetto Q57 (sweet spot) - http://www.youtube.com/watch?v=McvLJym0lhg

There's also a 4th video at:

Palmetto Q49 (run through the rack) - http://www.youtube.com/watch?v=b8uEfDExUR4

Our "Center Best" autonomous mode (the best of 14 modes including "Martian Rock") works like this:

1) Look for lights from the starting position

2) If we see two lights (very wide rectangle), make a choice:
2a) Centroid near the center, choose the dark foot
2b) Otherwise choose left or right depending on which the centroid is closer to

3) If the centroid is near enough the center, skip the next step

4) Attempt to acquire "the beam" (straight out from the foot) by turning the robot to move and track the centroid on the OPPOSITE side of the viewfinder as what it currently is. Continue driving this arc until the rectangle is either wider than it is tall or the tilt of the camera indicates that we're too close.

5) After arriving "on the beam" or if we start out with the light in the middle, drive the robot tracking the centroid in the center of the viewfinder using a PID controlling the speed targeting a pre-determined camera tilt value which puts the front of the robot about 2-4 inches INSIDE the rack.

6) When (if) the Easy button trigger hits the spider foot, activate scoring by dropping our face, cutting the vacuum (dropping the tube), raising the face and simultaneously backing the robot away from the rack. This is the same scoring sequence used automatically in tele-operated mode which is what made our robot so quick to score and hard to defend. We had no communication delay between the drive and manipulator when scoring.

7) If we arrive at too close a tilt or it takes too long to hit the trigger or the number of lights change, engage a retry sequence that backs the robot up a bit, waits for a new light acquisition, and goes back to step 5. This is why TyRap VII would back up sometimes during its approach to the rack, sometimes even right at the start which was rather disconcerting to the drive team.

To see some of our less-than-successful attempts at side and reverse (other end) scoring, pull the Palmetto and UCF autonomous from BitTorrent.

Lynn (D) - Team Voltage Video Hustler

PS. There are MPG versions of these available via BitTorrent at http://ldeffenb.dnsalias.net:30049 Look for the 2007 386 Autonomous *.mpg .torrents.

Part of what you do is similiar to 1902, of course we didn't have an "easy button". Have have several videos of Atlanta I will use on of those. I like the one you were hit and did it any way.

[pafwl]

Lansdale Catholic Cyber-Crusaders 272, Lansdale PA
Here is our autonomous. Check out the camera dome...

http://www.youtube.com/watch?v=Dnr2f4P9OJg

[Doug Leppard]

Originally Posted by pafwl

Lansdale Catholic Cyber-Crusaders 272, Lansdale PA
Here is our autonomous. Check out the camera dome...

http://www.youtube.com/watch?v=Dnr2f4P9OJg

Very cool, but can not use youtube, send me url of actual file like on soap or something.

[Joe Ross]

330: http://www.thebluealliance.net/tbatv...07/ca_qm36.avi

We just dead reckoned using potentiometers on the wheel and arm.
We were 1/16 at LA, 2/18 at San Diego and 3/15 at the Championship.

Also, 48 pushing us into perfect scoring position: http://www.thebluealliance.net/tbatv...7/cur_f1m2.wmv

[987HighRoller]

Einstein final match 2
and
Newton final match 1
Newton Qual. 55
We were 3/8 (attempted in qualifying, didn't do normal auto in elims) in Vegas, and in Atlanta we were 2/7 in qualifying, and 2/13 in elims.
We use the camera to aim our turreted arm while the robot drives forward for about 2 seconds, then the robot's distance from the light is adjusted by the camera.
The better videos are Newton finals 2 and Newton qualification 55.

[David Doerr]

Autonomous Mode Information from the HOT Team:


Video: GLR_SF1M1 and GLR_QM20, GLR_QM38, or CUR_078

Double-keeper scoring with Team 1114 at the Great Lakes Regional:
http://www.DarkMatterFLL.org/2007HOTglr_qf1m1.wmv

Scoring on a low-level spider at the Great Lakes Regional:
http://www.DarkMatterFLL.org/2007HOTglr_qm20.wmv

Scoring on a mid-level spider at the Great Lakes Regional:
http://www.DarkMatterFLL.org/2007HOTglr_qm38.wmv

Scoring on a mid-level spider on Curie:
http://www.DarkMatterFLL.org/2007HOTcur_078.wmv

And here is our own autonomous video compilation offering...
http://www.DarkMatterFLL.org/2007HOTAutonomous.wmv


Method: Camera

We used the camera both to steer towards a lamp and to position at the spider for scoring. The camera was mounted on the arm via a linkage so that, theoretically, it would remain somewhat level as the arm moved through its operating range. However, before using the camera, we raised the arm to the low-level spider scoring position to prepare for stable tracking while the robot drove. After the arm stabilized in driving position, control was transferred to the camera driving function while the robot was still at its starting position. In retrospect, we could have saved time by having the robot drive onto the field while raising the arm as it appears many other teams did.

Our first autonomous program would score only on a low-level spider. We were so pleased with the result that we spent March 9th at the Great Lakes Regional developing a mid-level spider scoring program. You can see the effect of the development process reflected in the poor scores shown below on March 9th. Mid-level presented a problem because, when we raised our arm to the mid-level position the keeper held by the arm blocked the camera from seeing the lamp. We solved that problem by waiting until the robot had almost reached the spider before raising the arm all of the way to score.

Arriving at Curie we had another problem to solve - our camera seemed to be distracted by the bright lighting. We hadn't had camera problems like that before - we should have loaded the FIRST-supplied camera values first thing on reaching Atlanta. Loading those solved the problem, but we should have done it earlier in the day. Live and learn.


Statistics: 67%

Team 67 scored successfully in autonomous mode almost exactly 67% of the time. (Thanks to Adam Freeman for pointing this out.)

Venue Match Spider Date
Great Lakes Regional Q3 Mid March 9
Great Lakes Regional Q12 - March 9
Great Lakes Regional Q20 Low March 9
Great Lakes Regional Q38 Mid March 9
Great Lakes Regional Q46 - March 9
Great Lakes Regional Q56 - March 9
Great Lakes Regional Q60 - March 9
Great Lakes Regional Q68 Mid March 10
Great Lakes Regional Q79 Mid March 10
Great Lakes Regional QF1-1 Mid March 10
Great Lakes Regional QF1-2 Mid March 10
Great Lakes Regional SF1-1 Mid March 10
Great Lakes Regional SF1-2 - March 10
Great Lakes Regional Total 8/13 = 62%

West Michigan Regional Video Not Available
West Michigan Regional Total 8/11 = 73%

Championship - Curie Q3 - April 13
Championship - Curie Q16 - April 13
Championship - Curie Q29 Mid April 13
Championship - Curie Q45 Mid April 13
Championship - Curie Q58 - April 13
Championship - Curie Q78 Mid April 14
Championship - Curie Q91 Low April 14
Championship - Curie Q101 ? April 14
Championship - Curie QF1-1 Mid April 14
Championship - Curie QF1-2 Mid April 14
Championship - Curie SF1-1 Mid April 14
Championship - Curie SF1-2 Low April 14
Championship - Curie SF1-3 Mid April 14
Championship - Curie F1 Low April 14
Championship - Curie F2 - April 14
Championship - Curie F2Retry Low April 14
Championship - Curie Total 11/16 = 69%

2007 Season Total 27/40 = 67%


This has been a great autonomous season for us - we learned a lot. We enjoyed seeing what everyone did with autonomous mode this season and working our own autonomous. It was fun to be able to successfully develop a new autonomous mode while at the Great Lake Regional, and it was especially thrilling to be able to partner with Team 1114 in autonomous mode together. We're looking forward to next time.

[Doug Leppard]

Originally Posted by David Doerr

Autonomous Mode Information from the HOT Team:


Video: GLR_SF1M1 and GLR_QM20, GLR_QM38, or CUR_078

Double-keeper scoring with Team 1114 at the Great Lakes Regional:
http://www.DarkMatterFLL.org/2007HOTglr_qf1m1.wmv

Scoring on a low-level spider at the Great Lakes Regional:
http://www.DarkMatterFLL.org/2007HOTglr_qm20.wmv

Scoring on a mid-level spider at the Great Lakes Regional:
http://www.DarkMatterFLL.org/2007HOTglr_qm38.wmv

Scoring on a mid-level spider on Curie:
http://www.DarkMatterFLL.org/2007HOTcur_078.wmv

And here is our own autonomous video compilation offering...
http://www.DarkMatterFLL.org/2007HOTAutonomous.wmv


Method: Camera

We used the camera both to steer towards a lamp and to position at the spider for scoring. The camera was mounted on the arm via a linkage so that, theoretically, it would remain somewhat level as the arm moved through its operating range. However, before using the camera, we raised the arm to the low-level spider scoring position to prepare for stable tracking while the robot drove. After the arm stabilized in driving position, control was transferred to the camera driving function while the robot was still at its starting position. In retrospect, we could have saved time by having the robot drive onto the field while raising the arm as it appears many other teams did.

Our first autonomous program would score only on a low-level spider. We were so pleased with the result that we spent March 9th at the Great Lakes Regional developing a mid-level spider scoring program. You can see the effect of the development process reflected in the poor scores shown below on March 9th. Mid-level presented a problem because, when we raised our arm to the mid-level position the keeper held by the arm blocked the camera from seeing the lamp. We solved that problem by waiting until the robot had almost reached the spider before raising the arm all of the way to score.

Arriving at Curie we had another problem to solve - our camera seemed to be distracted by the bright lighting. We hadn't had camera problems like that before - we should have loaded the FIRST-supplied camera values first thing on reaching Atlanta. Loading those solved the problem, but we should have done it earlier in the day. Live and learn.


Statistics: 67%

Team 67 scored successfully in autonomous mode almost exactly 67% of the time. (Thanks to Adam Freeman for pointing this out.)

Venue Match Spider Date
Great Lakes Regional Q3 Mid March 9
Great Lakes Regional Q12 - March 9
Great Lakes Regional Q20 Low March 9
Great Lakes Regional Q38 Mid March 9
Great Lakes Regional Q46 - March 9
Great Lakes Regional Q56 - March 9
Great Lakes Regional Q60 - March 9
Great Lakes Regional Q68 Mid March 10
Great Lakes Regional Q79 Mid March 10
Great Lakes Regional QF1-1 Mid March 10
Great Lakes Regional QF1-2 Mid March 10
Great Lakes Regional SF1-1 Mid March 10
Great Lakes Regional SF1-2 - March 10
Great Lakes Regional Total 8/13 = 62%

West Michigan Regional Video Not Available
West Michigan Regional Total 8/11 = 73%

Championship - Curie Q3 - April 13
Championship - Curie Q16 - April 13
Championship - Curie Q29 Mid April 13
Championship - Curie Q45 Mid April 13
Championship - Curie Q58 - April 13
Championship - Curie Q78 Mid April 14
Championship - Curie Q91 Low April 14
Championship - Curie Q101 ? April 14
Championship - Curie QF1-1 Mid April 14
Championship - Curie QF1-2 Mid April 14
Championship - Curie SF1-1 Mid April 14
Championship - Curie SF1-2 Low April 14
Championship - Curie SF1-3 Mid April 14
Championship - Curie F1 Low April 14
Championship - Curie F2 - April 14
Championship - Curie F2Retry Low April 14
Championship - Curie Total 11/16 = 69%

2007 Season Total 27/40 = 67%


This has been a great autonomous season for us - we learned a lot. We enjoyed seeing what everyone did with autonomous mode this season and working our own autonomous. It was fun to be able to successfully develop a new autonomous mode while at the Great Lake Regional, and it was especially thrilling to be able to partner with Team 1114 in autonomous mode together. We're looking forward to next time.

Got it. Great show,

[DanDon]

Here is a link to the team 375 autonomous compilation video.

Feel free to choose your favorite(s)!

http://dhoizner.files-upload.com/fil...ompilation.wmv

Thanks for doing this, should be an awesome video!,

/dan

[Darren Collins]

The compilation video sounds like a great idea. Thanks for doing the work to put it together.

Here are a couple of videos showing 2046's autonomous on Curie. Our robot uses the camera to score on the middle spider leg under a light. We were 5 for 7 on Curie.

Curie Qualification #27 http://files.filefront.com//;7373893;;/

Compilation of 2046's Curie Auto http://files.filefront.com//;7373970;;/

[yoyodyne]

One video of our autonomous mode on Galileo is here:

http://www.thebluealliance.net/tbatv...p?matchid=4326

We were pretty lucky to get it working since our camera wiring harness still had some shorts in it until Thursday afternoon in Atlanta. We never had a chance to try to power up our 2007 camera before ship and were not able to establish comms at VCU. We had done as much work as we could with our 2006 camera during fix-it-windows. There are a number of posts on the problems we had operating the camera in polled mode using three virtual windows.

This link is for our simplest mode that seeks the target with the highest confidence value (assuming we see two targets). If you watch closely, the robot rotates to the target drives fast until it is 12 feet from the target, drives slower and stops at 8 feet. At that point the arm is raised to the scoring height (all three levels can be selected via the LCD control panel) and the rest of the mode uses the gyro and timers to finish up because we thought the camera would be blocked at the mid or high level.

[Doug Leppard]

Originally Posted by dhoizner

Here is a link to the team 375 autonomous compilation video.

Feel free to choose your favorite(s)!

http://dhoizner.files-upload.com/fil...ompilation.wmv

Thanks for doing this, should be an awesome video!,

/dan

Got it.