Post URL to your autonomous mode

[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.