Post URL to your autonomous mode

[Doug Leppard]

Originally Posted by Kristian Calhoun

Here is a autonomous compilation video that I recently made, showcasing our successful caps. In order, from the video's sequence, the matches are:

NJ Match 39 (This keeper actually didn't count, as it was supported by the stinger.
NJ Match 11
UTC Match 64 (One bot from each alliance capping, us on blue, 1124 on red.)
Galileo Match 22 (Nice close up shot.)
Galileo Match 82
Galileo Match 90* (1126 positions correctly, but knocks off their keeper as they back away. We cap ours on the same alliance.)
UTC Match 52**
NJ Finals 1*
NJ Finals 2***

Match 52 from Galileo, Match 52, and the NJ Finals are my favorites. (I'm still amazed at how we scored in match 52 after slamming into the rack and pulling up from beneath the spider.) As for our method, we used a single ultrasonic sensor to determine the proper distance from the base of the rack. During the matches at NJ, we used the CMUcam to align left/right towards the light, if it were in the view of the camera, and if not it would proceed to use the sonic sensor code. At UTC, we experienced camera troubles, and decided to just use the sonic sensors, and try our best to determine/guess where the spider leg would be after the rack had been moved. At championships, we solely used this method, and scored during 3 out of our 7 qualification matches.

The asterisks indicate my preference on which are the most entertaining to be used for the video, three stars being the highest.

Got it, great job.

[PhilBot]

Originally Posted by Doug Leppard

Good video, but I can not download youtube, at least I don't know how. Also be sure to tell me the method (IE camera).

Here is a direct link to Team 1629's Autonomous video (wmv) file.

http://www.gearsinc.org/images/auto_1629.wmv

These are from the elimination matches at Chesapeake.

Navigation is performed by camera and gyro.
The camera is hard-mounted to the robot (no pan/tilt).
It uses the Gyro to get withing viewing range, and then locks in with the camera. Both heading and range are provided by the camera.
The vertical car and rotational arm (two axes of motion) are positioned based on feedback from potentiometers.

Once we got the camera so it could see the lights, we mised one, and scored two.

In addition to a direct near-side score, we are working on scoring on the opposite side of the rack (for off season games).

[Doug Leppard]

Originally Posted by Budda648

Here's several, choose from what you will, QF19 and F1-3 are my favorites:

QF19
QF1-3
SF1-1
SF1-2
F1-3

I down loaded your two favorites. Both had sound only in windows media and didn't paly in quicktime. I pulled it into my media editor and it only had sound portion no video. Maybe it is a driver issue with me or problem with files.

Also be sure to say the method used to do auto mode (IE camera).

[Chris Marra]

Originally Posted by Doug Leppard

I down loaded your two favorites. Both had sound only in windows media and didn't paly in quicktime. I pulled it into my media editor and it only had sound portion no video. Maybe it is a driver issue with me or problem with files.

Also be sure to say the method used to do auto mode (IE camera).

These particular videos, since they are Wildstang-provided and not by SOAP, are encoded with the xViD codec, which is technically superior to Windows Media. You can find a copy of it here: http://www.xvid.org/Downloads.15.0.html

[Doug Leppard]

Originally Posted by Chris Marra

These particular videos, since they are Wildstang-provided and not by SOAP, are encoded with the xViD codec, which is technically superior to Windows Media. You can find a copy of it here: http://www.xvid.org/Downloads.15.0.html

I used to have that on my computer. But either way both media editors can not use this format. sorry.

[DanDon]

Here is a link to a compilation on youtube.

http://www.youtube.com/watch?v=36Em65OpwCY

If you need it, I can put the file up on a filesharing site.

All navigation was done based on camera feedback, with a gyro used to stabilize the robot while scoring the keeper itself.

[Doug Leppard]

Originally Posted by dhoizner

Here is a link to a compilation on youtube.

http://www.youtube.com/watch?v=36Em65OpwCY

If you need it, I can put the file up on a filesharing site.

All navigation was done based on camera feedback, with a gyro used to stabilize the robot while scoring the keeper itself.

I can't used youtube. Give me a url where file is.

[ldeffenb]

386's most successful autonomous modes can be seen on YouTube at

Archimedes Autonmous (all 14) - http://www.youtube.com/watch?v=9iZxxcQADhM

Palmetto Q29 (double retry) - http://www.youtube.com/watch?v=M_2BXB8aMU8

Palmetto Q57 (sweet spot) - http://www.youtube.com/watch?v=McvLJym0lhg

There's also a 4th video at:

Palmetto Q49 (run through the rack) - http://www.youtube.com/watch?v=b8uEfDExUR4

Our "Center Best" autonomous mode (the best of 14 modes including "Martian Rock") works like this:

1) Look for lights from the starting position

2) If we see two lights (very wide rectangle), make a choice:
2a) Centroid near the center, choose the dark foot
2b) Otherwise choose left or right depending on which the centroid is closer to

3) If the centroid is near enough the center, skip the next step

4) Attempt to acquire "the beam" (straight out from the foot) by turning the robot to move and track the centroid on the OPPOSITE side of the viewfinder as what it currently is. Continue driving this arc until the rectangle is either wider than it is tall or the tilt of the camera indicates that we're too close.

5) After arriving "on the beam" or if we start out with the light in the middle, drive the robot tracking the centroid in the center of the viewfinder using a PID controlling the speed targeting a pre-determined camera tilt value which puts the front of the robot about 2-4 inches INSIDE the rack.

6) When (if) the Easy button trigger hits the spider foot, activate scoring by dropping our face, cutting the vacuum (dropping the tube), raising the face and simultaneously backing the robot away from the rack. This is the same scoring sequence used automatically in tele-operated mode which is what made our robot so quick to score and hard to defend. We had no communication delay between the drive and manipulator when scoring.

7) If we arrive at too close a tilt or it takes too long to hit the trigger or the number of lights change, engage a retry sequence that backs the robot up a bit, waits for a new light acquisition, and goes back to step 5. This is why TyRap VII would back up sometimes during its approach to the rack, sometimes even right at the start which was rather disconcerting to the drive team.

To see some of our less-than-successful attempts at side and reverse (other end) scoring, pull the Palmetto and UCF autonomous from BitTorrent.

Lynn (D) - Team Voltage Video Hustler

PS. There are MPG versions of these available via BitTorrent at http://ldeffenb.dnsalias.net:30049 Look for the 2007 386 Autonomous *.mpg .torrents.

[Doug Leppard]

Originally Posted by ldeffenb

386's most successful autonomous modes can be seen on YouTube at

Archimedes Autonmous (all 14) - http://www.youtube.com/watch?v=9iZxxcQADhM

Palmetto Q29 (double retry) - http://www.youtube.com/watch?v=M_2BXB8aMU8

Palmetto Q57 (sweet spot) - http://www.youtube.com/watch?v=McvLJym0lhg

There's also a 4th video at:

Palmetto Q49 (run through the rack) - http://www.youtube.com/watch?v=b8uEfDExUR4

Our "Center Best" autonomous mode (the best of 14 modes including "Martian Rock") works like this:

1) Look for lights from the starting position

2) If we see two lights (very wide rectangle), make a choice:
2a) Centroid near the center, choose the dark foot
2b) Otherwise choose left or right depending on which the centroid is closer to

3) If the centroid is near enough the center, skip the next step

4) Attempt to acquire "the beam" (straight out from the foot) by turning the robot to move and track the centroid on the OPPOSITE side of the viewfinder as what it currently is. Continue driving this arc until the rectangle is either wider than it is tall or the tilt of the camera indicates that we're too close.

5) After arriving "on the beam" or if we start out with the light in the middle, drive the robot tracking the centroid in the center of the viewfinder using a PID controlling the speed targeting a pre-determined camera tilt value which puts the front of the robot about 2-4 inches INSIDE the rack.

6) When (if) the Easy button trigger hits the spider foot, activate scoring by dropping our face, cutting the vacuum (dropping the tube), raising the face and simultaneously backing the robot away from the rack. This is the same scoring sequence used automatically in tele-operated mode which is what made our robot so quick to score and hard to defend. We had no communication delay between the drive and manipulator when scoring.

7) If we arrive at too close a tilt or it takes too long to hit the trigger or the number of lights change, engage a retry sequence that backs the robot up a bit, waits for a new light acquisition, and goes back to step 5. This is why TyRap VII would back up sometimes during its approach to the rack, sometimes even right at the start which was rather disconcerting to the drive team.

To see some of our less-than-successful attempts at side and reverse (other end) scoring, pull the Palmetto and UCF autonomous from BitTorrent.

Lynn (D) - Team Voltage Video Hustler

PS. There are MPG versions of these available via BitTorrent at http://ldeffenb.dnsalias.net:30049 Look for the 2007 386 Autonomous *.mpg .torrents.

Part of what you do is similiar to 1902, of course we didn't have an "easy button". Have have several videos of Atlanta I will use on of those. I like the one you were hit and did it any way.

[Joe Ross]

330: http://www.thebluealliance.net/tbatv...07/ca_qm36.avi

We just dead reckoned using potentiometers on the wheel and arm.
We were 1/16 at LA, 2/18 at San Diego and 3/15 at the Championship.

Also, 48 pushing us into perfect scoring position: http://www.thebluealliance.net/tbatv...7/cur_f1m2.wmv

[Doug Leppard]

Originally Posted by Joe Ross

330: http://www.thebluealliance.net/tbatv...07/ca_qm36.avi

We just dead reckoned using potentiometers on the wheel and arm.
We were 1/16 at LA, 2/18 at San Diego and 3/15 at the Championship.

Also, 48 pushing us into perfect scoring position: http://www.thebluealliance.net/tbatv...7/cur_f1m2.wmv

got it.

[yoyodyne]

One video of our autonomous mode on Galileo is here:

http://www.thebluealliance.net/tbatv...p?matchid=4326

We were pretty lucky to get it working since our camera wiring harness still had some shorts in it until Thursday afternoon in Atlanta. We never had a chance to try to power up our 2007 camera before ship and were not able to establish comms at VCU. We had done as much work as we could with our 2006 camera during fix-it-windows. There are a number of posts on the problems we had operating the camera in polled mode using three virtual windows.

This link is for our simplest mode that seeks the target with the highest confidence value (assuming we see two targets). If you watch closely, the robot rotates to the target drives fast until it is 12 feet from the target, drives slower and stops at 8 feet. At that point the arm is raised to the scoring height (all three levels can be selected via the LCD control panel) and the rest of the mode uses the gyro and timers to finish up because we thought the camera would be blocked at the mid or high level.

[pafwl]

Lansdale Catholic Cyber-Crusaders 272, Lansdale PA
Here is our autonomous. Check out the camera dome...

http://www.youtube.com/watch?v=Dnr2f4P9OJg

[Doug Leppard]

Originally Posted by pafwl

Lansdale Catholic Cyber-Crusaders 272, Lansdale PA
Here is our autonomous. Check out the camera dome...

http://www.youtube.com/watch?v=Dnr2f4P9OJg

Very cool, but can not use youtube, send me url of actual file like on soap or something.

[987HighRoller]

Einstein final match 2
and
Newton final match 1
Newton Qual. 55
We were 3/8 (attempted in qualifying, didn't do normal auto in elims) in Vegas, and in Atlanta we were 2/7 in qualifying, and 2/13 in elims.
We use the camera to aim our turreted arm while the robot drives forward for about 2 seconds, then the robot's distance from the light is adjusted by the camera.
The better videos are Newton finals 2 and Newton qualification 55.