Difference between revisions of "DEWBOT IX Programming"

From DEW Robotics
Jump to: navigation, search
(→‎Caterpillar)
(→‎Programming Team Information)
 
(5 intermediate revisions by 4 users not shown)
Line 14: Line 14:
 
:Rohan S
 
:Rohan S
  
−
==Current Status==
 
−
Team members should be updating LabVIEW on their computers
 
−
 
−
Tank drive for 6WD bot using 2013 FRC framework should be done
 
−
 
−
Sensor/test board program using 2013 FRC framework should be done, focusing on [http://en.wikipedia.org/wiki/Rotary_encoder#Single-track_Gray_encoding the quadrature encoder]
 
−
 
−
Preliminary targeting system code should be underway
 
−
<br>
 
−
<br>
 
 
==Programming Projects==
 
==Programming Projects==
 
{| cellpadding="10" cellspacing="10" border="1"
 
{| cellpadding="10" cellspacing="10" border="1"
Line 44: Line 34:
  
 
==Programming Team Information==
 
==Programming Team Information==
 +
 +
[[DEWBOT_IX_Control | Dewbot IX Control System]]
  
 
[http://firstforge.wpi.edu/sf/docman/do/downloadDocument/projects.wpilib/docman.root/doc1318 Some information about Network Tables]
 
[http://firstforge.wpi.edu/sf/docman/do/downloadDocument/projects.wpilib/docman.root/doc1318 Some information about Network Tables]
Line 71: Line 63:
 
*[http://www.ni.com/white-paper/7466/en National Instruments' LabVIEW Tutorials]
 
*[http://www.ni.com/white-paper/7466/en National Instruments' LabVIEW Tutorials]
 
*[http://www.usfirst.org/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/2011_Assets/Kit_of_Parts/How_to_Configure_Your_Radio_Rev_A.pdf 2011/2012 Router Configuration]
 
*[http://www.usfirst.org/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/2011_Assets/Kit_of_Parts/How_to_Configure_Your_Radio_Rev_A.pdf 2011/2012 Router Configuration]
−
 
−
= 2013 Control System =
 
−
== Modules ==
 
−
In Week 2, we brainstormed the software module breakdown:<br/>
 
−
[[file:module-breakdown.jpg| 300px]]
 
−
 
−
* Caterpillar
 
−
** Caterpillar front leg (1)
 
−
** Caterpillar back legs (2)
 
−
** Skid Extender
 
−
* Drive
 
−
** pivot drive (4)
 
−
** Ocelot
 
−
* UI (User Interface)
 
−
* Shooter
 
−
* Feeder
 
−
* Compressor
 
−
 
−
== Caterpillar ==
 
−
{| border="1"
 
−
! Subsytem
 
−
! Name
 
−
! Type
 
−
! Qty
 
−
! Num I/O
 
−
! Note
 
−
|-
 
−
|Caterpillar Front Leg
 
−
|Foot
 
−
| Solenoid, Double Acting
 
−
|1
 
−
|2
 
−
| Up/Down, default down
 
−
|-
 
−
|Caterpillar Back Leg
 
−
|Foot
 
−
| Solenoid, Single Acting
 
−
|2
 
−
|2
 
−
| Up/Down, default down
 
−
|-
 
−
|Caterpillar Leg
 
−
| Claw
 
−
| Solenoid, Single Acting 
 
−
|3
 
−
|3
 
−
| Grab/Release, default Grab
 
−
|-
 
−
|Caterpillar
 
−
| Skid Extender
 
−
| Solenoid, Single Acting
 
−
|1
 
−
|1
 
−
|Extend/Retract, default Retract
 
−
|-
 
−
|Caterpillar
 
−
| Position Sensor
 
−
| Limit Switch
 
−
|4
 
−
|4
 
−
| Placed before each leg assembly, and one behind the rear leg assembly
 
−
|}
 
−
 
−
User story: driving up the pole
 
−
* When the robot is turned on, the foot is down and the claw is Grab.
 
−
* Drive up to the pole, using camera to align the pole with the first caterpillar leg.
 
−
* Drive up the pole.
 
−
* Engage foot 0.
 
−
* Press the climb button and hold it.
 
−
* As long as the climb button is held, the robot will climb until it reaches the top.
 
−
* If the driver lets go of the climb button, the robot will stop.
 
−
* If the operator hits an emergency override button the robot will stop.
 
−
 
−
User story: manual intervention
 
−
* Once the robot gets to the top of the pole, the driver will manually control the robot to get to the optimum scoring position.
 
−
* If the robot gets unaligned during the ascent, the driver will be able to control the the skid extender, motor, and three legs.
 
−
* We may give the foot and leg control to the drivers during the manual intervention. This will depend on the meetings we have with the drive team.
 
−
 
−
== Caterpillar Design ==
 
−
 
−
=== Leg Assembly ===
 
  
 
=Programmers Team Page History=
 
=Programmers Team Page History=

Latest revision as of 00:52, 1 February 2013

Programming Team
Targeting

Mentors: Julie Christopher, Frank San Miguel
Lead Programmer: Michael M
Assistant Lead Programmer: DJ R
Qualified Programmers:

Kevin S
Patrick D
Sarah S

Trainee Programmers:

Hannah T
Marina SM
Rachael T
Rohan S

Programming Projects

Required Systems Comprehensive Testing Mode
DB9 130107 Programming Systems.jpg

Main systems

Targeting
Drivetrain
Autonomous
 DB9 130107 Programming Test Mode.jpg

Requirements

No code deploy needed
Joystick control of motors
Sensor readouts

Programming Team Information

Dewbot IX Control System

Some information about Network Tables

2013 FRC Control System resources, including required software updates

Programming Certification Pre-Test for 2013 Season

Programming Language

FRC LabVIEW software has been used for the past three seasons (2010 - 2012).

C++ and Java are also supported by FRC and could be used if the programming team decides to do so.

Code Repository

For the past two seasons (2011 and 2012), the programming team has used Mercurial source control management and Bitbucket for the code repository. Having code in a repository allows the team to share their code even when they do not see each other in person. It also allows the student lead to manage and incorporate code from the rest of the team into the main robot code project.

GitHub is under consideration for the code repository for the 2013 season.

Programmer Training Resources

Programmers Team Page History

Retrieved from "https://team1640.com/wiki/index.php?title=DEWBOT_IX_Programming&oldid=16631"