1189 - Human-Bot Arm Control

[jmcr8on]

More info.... (Mark and I are playing off each other's posts).....

LEDs on the joystick handle attached to the arm:
- Red only (arm disabled)
- Green only (arm enabled)
- Red and Green (arm enabled and turret enabled)

Buttons:
- enable/disable arm
- enable/disable turret
- rotate wrist left
- rotate wrist right

We looked at using the tophat to control the wrist...but the position of the tophat was not ergonomically 'good'...and we ran out of time to do more work on the arm to make it usable.

About the sneezing... I learned to do most things lefthanded. Including eating Wheat Thins with only vertical arm movements to avoid rotating the turret - when I wasn't wearing the arm. And yes, I most often had it deactivated anyway.

After autonomous, it took me about fifteen seconds to get myself completely strapped into the hockey pads (donated by one of the team members as an attachment for the arm). I learned to do it on my own so the driver was free to move the bot for the first 10 seconds of the match - I had three or four seconds of lag time between the buzzer to end autonomous and the activation bell. Not that this came down to any sort of precise art.

[Dillon Compton]

Originally Posted by Animus

After autonomous, it took me about fifteen seconds to get myself completely strapped into the hockey pads (donated by one of the team members as an attachment for the arm). I learned to do it on my own so the driver was free to move the bot for the first 10 seconds of the match - I had three or four seconds of lag time between the buzzer to end autonomous and the activation bell. Not that this came down to any sort of precise art.

A note on this for individuals who would like to use this or a similar idea in the future: one team in 2005 (I don't remember which) had an arm mounted controller much like this one. In order to get around "strap-in" time, they simply waited untill the beginning of teleoperated period to plug the arm controller into the OI - it's fine if you are wearing it during autonomous, as long as it is not connected to the OI! Plugging a DB-15 into the OI should take way less time (2-3 seconds total) than putting the assembly on.

Hope this will help people trying to use a control system like this maximize efficiency in the future!

//Dillon Compton

[vivek16]

i believe the team you are talking about is team 25. they used an arm similiar to this in '05

[kramarczyk]

Originally Posted by vivek16

umm.... what? they just program like they normally would with a joystick drive...

edit: oh sorry misread your post. yeah what do you do?

It has a hanger om the OI and gets put on following auton... costs us some time.