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Anti-tipping algorithm
The problem
The cg of our robot is very far to the back of the robot without any totes or can. Once we are loaded the robot is very stable. At our first competition we tipped over twice. Once in auto and one time when the driver was rushing to get another RC. I was very surprised when I came to the next meeting and the programmers announced that they had implemented an anti tipping algorithm. We have a Navx mxp board on the robot . They watch the pitch and command a correcting action by reversing the drive motors if the angle goes beyond a certain value. It works! The drivers tried tipping the robot and could not. This past weekend at the Seneca District the algorithm kicked in 6 or 7 times. With out this little piece of code we could have had a disastrous weekend instead of winning. So if your robot has gone down and you have a 3 axis gyro you might look into an anti-tipping algorithm. Think inverted pendulum. High end cars have stability control now our robot does too.
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All I know is that last year in Philadelphi, our camera locked dead onto MOE (Team 365) and their flourescent green shirts during the matches. They might want to consider what would happen if they get pelted with balls during the autonomous period! :ahh: - Greg Marra [more] 
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