DEWBOT VIII Control Team Page
Student Lead: Michael M.
Student Sub-Lead: Dhananjay (DJ)
Student Team Members: Nicole, Patrick D., Sarah, Quinn, Kenneth
Mentors: Juliet Christopher (Programming), Scott Featherman (Electrical), John Stumpo
Contents
Hybrid Scenarios
- Tip first, then move to key and shoot
- Then set up to steal
- Then collect and possibly shoot and set up to steal (if Kinect)
- Shoot first
- Then set up to steal
- Then tip and then collect and possibly shoot and set up to steal (if Kinect)
For all scenarios: Have option to delay shooting until a certain number of seconds has elapsed in order to coordinate with alliance members.
Status: Mostly completed autonomous structure, using switches to select which script file to run; need to add shooting and ball collection primitives; need to test on 8 Prime.
Vision Processing for Auto-Aiming
After rough alignment by driver (or by pre-match setup), scan using spin to get target box. Stop when target box numbers exceed specified threshold.
Status: Standalone application tested sending UDP packets and robot code moving based on UDP packets received; need to test on 8 Prime.
Driving Modes
- "Fat Snake" : snake or automobile with long axis as front/back; used for ball collection, bridge crossing and balancing
- "Turret Twist" : spin around center of bot to aim for shooting
- "Skinny Snake" : snake or automobile with short axis as front/back; used for barrier crossing
- Crab : for evasion
Status: Completed and ready for driver testing and feedback; debugging on 8 Prime.
Ball Lift Management
Status: Debugging.
Shooting
Status: Need to test shooter wheel sensor and implement PID to control wheel speed for shooting.
Kinect
Status: Option to run default gesture processing code added; need to add in real robot code for different gestures.