07-03-2011 12:53

AllenGregoryIV

Re: pic: K-Botics Team 2809, Kasey III (aka Barbra Streisand)

Awesome looking robot.

Can you elaborate on your autonomous mode. Which parts are read back from the recorded driver inputs and which parts use the senors? How is the data from both sources combined to give a consistent autonomous?

07-03-2011 13:04

Jonathan Norris

Re: pic: K-Botics Team 2809, Kasey III (aka Barbra Streisand)

I am not the expert but this is how I understand it:

We line up the robot on the line, flip a switch on the robot that will record all driver inputs to the crio's memory. Then the Driver holds down a button that follows the line and stops at the wall using the T of the line and IR distance sensors, the operator then operates the arm as this happens and scores the tube. Then after the tube is scored the driver can drive the robot to midfield ready to pickup a tube when teleop stars. Then when we flip the switch to play back and line the robot up again, it uses the recorded driver/operator input and the same sensors as it did before. I think there are a couple other things we are doing but thats basically it. We will see how it works this weekend, but it looked promising on our practice field.

07-03-2011 13:22

Travis Hoffman

Re: pic: K-Botics Team 2809, Kasey III (aka Barbra Streisand)

Very nice!

Are those rotating lights? I'm getting 2002 flashbacks.

Also, that swing arm looks very familiar. Does it have any in/out adjustability to permit operator alignment error? With mecanum and the ability to strafe, this shouldn't be as big a concern for your team relative to one that has a standard xWD drivetrain.

And Banebots has to be loving the run on puke-green Banebots wheels this year. :-)

07-03-2011 16:15

Jonathan Norris

Re: pic: K-Botics Team 2809, Kasey III (aka Barbra Streisand)

Yea we have an old 610 robot in our lab from '02 that had one of those old rotating lights and one of our students contacted American Signal Company and got the three on our robot donated. With how the game is developing not sure how much use we will get out of them, but they sure are pretty.

The swing arm is basically ram into the base and as long as the robot is touching the base it swings the minibot into the pole.

Yea those banebot wheels are nice, the tread is really gummy, nice and light, come with a 1/2" hex. We need to clean ours off a bit, they got pretty dirty when practicing at our sponsors wear house.

07-03-2011 16:16

Dkt01

Re: pic: K-Botics Team 2809, Kasey III (aka Barbra Streisand)

Regarding your unique autonomous stratagy:
First: wow, a great idea that, as you describe it, seems like a great solution.
Second: how do you record inputs to be used after the robot is reset?

07-03-2011 19:20

Jonathan Norris

Re: pic: K-Botics Team 2809, Kasey III (aka Barbra Streisand)

I believe it literally outputs all the driver control inputs into a .txt file on the crio's memory, then plays back those driver inputs into the code during autonomous.

07-03-2011 20:31

Brian Ha

Re: pic: K-Botics Team 2809, Kasey III (aka Barbra Streisand)

Caution!
Some teams have been having problems with the lines being scuffed up and their line sensing stuff not work. So caution to you guys, AND MAKE SURE THE REFS REDO THE LINES IF YOU GUYS EVEN FEEL A LITTLE BIT WORRIED ABOUT SCUFFED LINES.

07-03-2011 21:50

Mentor_Mike

Re: pic: K-Botics Team 2809, Kasey III (aka Barbra Streisand)

As for the lines, ours weren't brilliant to begin with, but it's definitely something we'll have to watch out for.

07-03-2011 22:08

coldfusion1279

Re: pic: K-Botics Team 2809, Kasey III (aka Barbra Streisand)

thumbs up for the music.

I like your robot too...

07-03-2011 22:48

Thuvishan.R

Re: pic: K-Botics Team 2809, Kasey III (aka Barbra Streisand)

Very nice, wouldn't expect nothing less from such a great team, cant wait to see this up close in person at GTR