I just love the autonomous modes and love watching other robots do it. So I thought I would commit our team to putting together a video of all the various teams doing their auto mode.
I already started this but realized how much work it was searching for all the videos and knew I would miss some good ones.
So to be part of this 2007 autonomous video please do the following:
All videos must be from official 2007 competitions, no practice videos.
All videos must be downloadable like from Soap videos. Give the URL.
Want both auto mode delivering the ringer and defending successfully from a bot delivering ringer (a hard task).
One video per team of one time auto mode, we will use only 15 seconds max at a time. So choose your best onetime video.
Exceptions:
Video of two or more teams a ringer on a side.
Exceptional or funny auto mode actions (like the dance one team did) or taking out a ref (wait that is not funny).
Give your team number, how auto mode is done (i.e. cmucam sonar or luck)
Give team stats on success rate etc.
I CAN NOT USE YOUTUBE VIDEOS. SO DON’T SEND ME THOSE URLS.
Not sure if we will use all the stats, but we will look at them and get our creative crew on it (well I haven’t told them yet about this but once I push submit they will hear about it).
Looking forward to seeing these videos and seeing the whole thing together.
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: Xvid - Download
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.
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).
Our “Center Best” autonomous mode (the best of 14 modes including “Martian Rock”) works like this:
Look for lights from the starting position
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
If the centroid is near enough the center, skip the next step
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.
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.
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.
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.