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Unread 19-02-2008, 20:49
Team 135 Team 135 is offline
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Team 135 Autonomous

Team 135 has been working for the past 4 weeks on our autonomous. It has come a long way to where it is now. It is using cutting edge technology to find the ball and to tell our bot where to get it. We are not sure whether we will need to even need a robo-coach. You should check it out for your self, you will be amazed, lol

We are going to
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Purdue
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Unread 20-02-2008, 02:27
arpitshah arpitshah is offline
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Re: Team 135 Autonomous

wowwww...that is sooooooooo fascinating...can u guys upload some videos or something so that we can have a look at it.....m dying to see that amezing machine....and the technology
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Unread 20-02-2008, 03:16
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Re: Team 135 Autonomous

Quote:
Originally Posted by arpitshah View Post
wowwww...that is sooooooooo fascinating...can u guys upload some videos or something so that we can have a look at it.....m dying to see that amezing machine....and the technology
I agree I think a lot of team would love to see how you are doing this. At least tell everyone what sensors you are using to do this. This sounds like you have put a lot of work in to it and I hope it is very successful during the game.
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Unread 22-02-2008, 16:25
Team 135 Team 135 is offline
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Re: Team 135 Autonomous

We are using a Logitec USB webcam, interfaced into a gumstix computer. The gumstix computer is interfaced with all of our encoders and IR sensors via eithernet. The webcam is able to move vertically to see where the ball is. So as we are driving up to the rack it will move up to see the ball. The gumstix computer is running Python linux, with C++ and spin programing running on it. The bot is able to distiguish between red and blue as pre programmed before the match. We are also able to tell it where the starting position is. All of this is done with an onboard screen. The other great thing is we can see the output of the camera directly on a screen on the bot. The on board computer records video of the match so we can replay the entire match when it is over.
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Unread 22-02-2008, 16:52
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Re: Team 135 Autonomous

how are you powering the gumstix computer??? and are you allowed onboard screens??? sounds really cool though would love to see video!
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Unread 22-02-2008, 18:41
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Re: Team 135 Autonomous

Innovation in Control, anyone?

That sounds awesome! I wish I could see it in person.
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Unread 22-02-2008, 21:40
Team 135 Team 135 is offline
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Re: Team 135 Autonomous

I am sorry to say that I will not be able to post video now because we did not take any. We will try to take some at St. Louis. The gunstix is powered from the main robot battery. It is also tied into the backup battery to allow it to continue running during minor power fluxuations from the main battery. We also built in a charging circuit for the back up battery.

As I posted before if you would like to see it...see it at one of the competitions that we will be at below

St. Louis
Purdue
Atlanta
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Unread 22-02-2008, 21:43
Team 135 Team 135 is offline
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Re: Team 135 Autonomous

The main way that we are finding the balls are through blob tracking, color filters, circle recognition, and line recognition.
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Unread 22-02-2008, 22:30
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Re: Team 135 Autonomous

thats REALLY cool!
is it 100% accurate?
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Unread 23-02-2008, 10:06
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Re: Team 135 Autonomous

How fast is it? Do you hit the home ball and come around and hit the other side ball?
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Unread 23-02-2008, 13:14
Team 135 Team 135 is offline
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Re: Team 135 Autonomous

Testing has been fairly limited due to the fact that we do not have a full field. We hope to test it fully at St. Louis and get it fully perfected. It should be able to get both balls. Is anyone planning to be at St. Louis?
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Unread 23-02-2008, 19:16
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Re: Team 135 Autonomous

we found that the CMU cam worked better at tracking the balls than it did the green light.
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Unread 23-02-2008, 19:56
Team 135 Team 135 is offline
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Re: Team 135 Autonomous

We did some research on cameras and found that the CMU cam was not configurable enough. We found that using a standard Logitec web cam, we could configure it to work very well. We did not try to use the CMU cam this year so I am not sure how well it might have worked.
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Unread 23-02-2008, 20:39
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Re: Team 135 Autonomous

This sounds really cool and I look forward to seeing it in action.
Quote:
Originally Posted by Team 135 View Post
... The gunstix is powered from the main robot battery. It is also tied into the backup battery to allow it to continue running during minor power fluxuations from the main battery. ...
(emphasis added)

A direct connection of your custom circuit to the RC backup battery would violate <R73>. This was clarified by an official Q&A response by the GDC here.

Per <R55> your custom circuit must be powered either via a 20A circuit from your breaker panel, or by one (or more) of the +5V pin(s) on the Robot Controller. I assume that you meant to say that the Robot Controller's backup battery will allow your custom circuit to continue running during minor power fluctuations.
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Unread 23-02-2008, 23:36
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Re: Team 135 Autonomous

That sounds fantastic. Please post when you have video of it all running... or, at any rate, I'll see you guys at purdue (as usual, you all were great in '06!)

How long does the cycle take?

How many points can you make in 15sec? (i.e. do you also drive over lines or anything)

Ditto on CMU cam working great for finding trackballs. We didn't try it, but 1501's ability to find our teams shirts... eh... I mean a blue ball... sure convinced me!

Sounds like a great project, please post a video.

-q
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