Hardware & Software Update
Note Following
Continuing from Sunday’s post, we have tried some more things with NOTE detection and alignment. For this, we have currently implemented the following logic:
- When detecting multiple notes, we first select the middlemost note.
- Then, it rotates until the selected note is in the middle of the screen using a P-controller on the x-coordinate of the middle of the detected object.
Unfortunately, the simple color filter is easily distracted by any other orange thing or red bumpers. We might improve this later in the season using machine learning models, but this is currently not worth the resources.
Auto Paths
We conducted two back and forth straight line tests with our 2023 robot TR-X. Meaning these tests are done using regular NEOs instead of Vortexes. These tests gave us the following measurements:
- 8 meters (~26 ft) in about 7 seconds
- 6 meters (~20 ft) in about 5.5 seconds.
Afterwards, we tried to test the feasibility of a 5 note auto. Starting with scoring the preload, then score the three notes in front of the stage, and finally picking up a note at the centerline. We will send videos of this 5 note auto soon…
Shooter Prototype Concept
We came up with the idea to see if a deflection plate at the end of the shooter will work à la frc118 in 2013.
We think it could be very easy to make with a couple of hinges. We think this would be very much worth testing. Setting the shooter at a fixed angle and then just changing the deflection flap to see if we can make other shots that way.
For those who don’t know how this shooter works, here is a quick video of 118’s 2013 robot:
Intake prototype
We’ve successfully assembled the intake prototype! Coming up next, we’re planning to connect the CAN tomorrow. Once that’s done, we’ll move onto checking the programming and powering it up to see everything in action. Excited to see how it all comes together!
Regarding the NOTES….
Prototyping an accurate shooter unfortunately proves rather difficult, as the compression and aerodynamics of our own game piece will most likely differ radically from the official game pieces. Right now, we have to make due with these works of art:
Next Steps
Tomorrow, 3DM will be taking an in-depth look at potential robot concepts. We will provide you with some more footage of our kitbot, software and prototype progress. So stay tuned!
Written by:
@Bjorn - Lead Data Driven Decision Making
@Nigelientje - Lead Outreach