Anybody have a code for an autonomous mode to go to the 50 point bar???? and...

[chaoticprout]

try to get near it??? Thank you

[dez250]

many teams can go up and get near or on the bottom platform, but team 190 can hang in auton mode.

[Greg Marra]

Originally Posted by dez250

many teams can go up and get near or on the bottom platform, but team 190 can hang in auton mode.

Wouldn't this remove a lot of point scoring potential? Unless other teams could stop you from hanging really easy, it seems like wasted points.

[jgannon]

Originally Posted by Greg Marra

Wouldn't this remove a lot of point scoring potential? Unless other teams could stop you from hanging really easy, it seems like wasted points.

190 was a defensive robot, mostly. After getting 50 points for their team (plenty to do well in many qualifying matches), their wings kept other robots from hanging, and their arm could defend against the opponent capping the goal. I think there's a video around here somewhere of them uncapping their opponent, and bringing it all the way around to cap their own. It was a very effective strategy, and made them my favorite robot in Atlanta.

[ColleenShaver]

I'll see if I can get a copy of the code sometime today or tomorrow and post it up here or send it to you.

There are several options in the code, including just driving up near the bar, and a complete hang in autonomous.

-colleen
DO:190

[Bharat Nain]

Even if you have the code, you will have to spend a lot of time fine-tuning it. Every bot has different speed, drive type(swerve or tank) etc which matter. If I were you I'd start from scratch because its not too hard(We have to test it practically anyways).

-B

[Tom Bottiglieri]

I doubt that 190s autonomous code will be of any help to you. Im sure they use totally different methods and variables which will probably take much longer to hack up and change than to just write something for yourself. Another reason being their bot goes straight up the stairs and they have a special system to line up the bot.

Hint: Find your robots speed in Ft/s. Then find how big the circumference of your drive wheels is. Figure out how long it would take to get to get from the starting position to the middle of the field and run a timer to start and stop the motors. (Whether you use the PIC's built in timers or a ghetto one that counts program loops, is up to you.)

for this example, lets say it takes 40 program loops to get to the center of the field.

drive_motor1=255;
drive_motor2=255;

if(timer>40)
{
     drive_motor1=0;
     drive_motor2=0;
}
timer++;

[BrianBSL]

We will be posting the code early next week. However, it works differentally than you would expect. First of all, our autonomous hang is completally sensor driven - wheel counters on the wheels, an ultrasonic sensor for distance to the stairs and to the 6" step in front of the bar, and a pitch and yaw gyro sensor to check for going up the stairs, turning etc.

Also, our autonomous works on an array of structs that has distances, gyro headings, a flags byte to turn on and off certain settings, etc.

It'd be something interesting to look at for others, but I would have to agree it would be pretty useless to implement it on your own without a lot of work. The array of structs setup could be useful to others though.

[Joe Ross]

Tom's code is similar to what many teams use for autonomous. However, it isn't accurate enough for many teams to get on the lower platform.

To successfully get on the lower platform, you need one of two things, a robot that can climb the platform from a variety of angles, or a robot that self-aligns with the platform. With 1405, we could climb the platform from a variety of angles, and so it didn't matter exactly how much we turned or how straight we went. At nationals, we made it onto the lower platform in 7 of 9 matches.

The other approach would be to make it mechanically so that if you hit the platform at an angle, you straighten out, and then get on from the straightened position.

Or you can add sensors (shaft encoders, accelerometers, range finders, etc) like WPI did.



Here is an example of 1405 getting on the platform in autonomous. We're in the upper left hand corner to start. http://soap.circuitrunners.com/2004/...al/gal_089.wmv

[BrianBSL]

Ours also had 8 wheels, but with the shafts at an angle so that only 4 were touching at a time, this allowed us to hang one set of wheels off the side of the platform while climbing the stairs.