Go to Post If you need persuasion woven tight with logic, leave it to a software architect. - Richard Wallace [more]
Home
Go Back   Chief Delphi > Technical > Programming
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
 
 
Thread Tools Rate Thread Display Modes
Prev Previous Post   Next Post Next
  #1   Spotlight this post!  
Unread 12-03-2008, 12:57
Shue Shue is offline
Programming Subteam
AKA: Mike Gushue
FRC #2228 (Cougar Tech)
Team Role: Mentor
 
Join Date: Mar 2008
Rookie Year: 2007
Location: Honeoye Falls, NY
Posts: 3
Shue is an unknown quantity at this point
Autonomous / Hybrid - Tethered versus Radio?

Hi!

Has anyone noted differences between running autonomous / hybrid mode while tethered (practice floor) versus running using radio (competition)?

We have been seeing very odd behavior on the competition floor at the start of autonomous, where our robot will move out from the wall from 1 to 6 feet or so, then make an immediate left turn into the wrong quadrant on the track (into oncoming traffic). We have run literally dozens of times on the practice floor at the Finger Lakes Regional and did not see this behavior once (always went the correct distance before the left turn, regardless of lane settings, starting delays, etc).

We tried a number of "experiments" to attempt to identify the cause (disabling IR command handling, changed from using gyro-controlled operation to just programmed values for "straight", slowing acceleration of the drive wheels off the line to minimize any wheelspin). The behavior was still bad, although the programmed "straight" approach did change the hard left turn to a 45 degree turn to the left on occasion... We use geartooth sensors to determine distances, but those have not been suspect since the behavior seems to track so consistently with tethered/practice versus radio/competition...

We worked with the software mentor (Mike) from Team SparX to see if anything we were doing from a software perspective was obviously wrong. He had many great suggestions, which we had either already tried or subsequently tried, but nothing that modified our robots behavior.

Mike made one point that, although surprising, could be causing our problems in some form. Specifically, we may be experiencing differences procedurally in the way we enable our robot on the practice floor versus how it is done on the competition floor. He indicated that on the competition floor, the un-asserting of "disabled" and the asserting of "autonomous" are done as two discrete operations. In our code, this will allow for a short period of teleop between the disable going away and the autonomous being asserted (both tele-init and tele-op will occur potentially). We definitely do not do this on the practice floor (just set autonomous and disabled on our competition box, reset the robot, then un-assert disabled).

Although this is surprising, the code looks like it should handle it without problems/conflicts. I did put an interlock to prevent this into the code, just for interest factor. Unfortunately, we only had one match left at Finger Lakes to see if it affected behavior, and we were bumped by another robot on a delayed start so no useful data was gathered.

We are going to the Buckeye Regional next week, and are REALLY trying to avoid getting hit with the 10 point penalty each time this occurs (for going the wrong way on the track). Disabling the autonomous / hybrid mode is only a last resort, since it works so well (when it works ).

Thanks in advance for any insight or assistance!

GO TEAMS!

-Mike
 


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump

Similar Threads
Thread Thread Starter Forum Replies Last Post
whos doing what in Autonomous/Hybrid? seanl General Forum 16 17-02-2008 20:04
Radio breaks in autonomous mode?? MrHero Control System 4 17-02-2008 01:57
Help needed in autonomous programming for hybrid mode Team_STORM Programming 3 21-01-2008 19:11
Backup autonomous code if a Radio Dropout Occurs patTeam241 Programming 8 03-02-2005 00:12
Autonomous workking differently tethered in pits, than from feed during competition. Elgin Clock Programming 12 24-03-2003 17:00


All times are GMT -5. The time now is 09:45.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi