DEWBOT IX Programming

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Revision as of 19:59, 26 January 2013 by Drago (talk | contribs) (leg assembly)

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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

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 the quadrature encoder

Preliminary targeting system code should be underway

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

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

2013 Control System

Modules

In Week 2, we brainstormed the software module breakdown:
Module-breakdown.jpg

  • Caterpillar
    • Caterpillar legs (3)
    • Skid Extender
  • Drive
    • pivot drive (4)
    • Ocelot
  • UI (User Interface)
  • Shooter
  • Feeder
  • Compressor

Caterpillar

Subsytem Name Type Qty Num I/O Note
Caterpillar Leg Foot Solenoid, Double Acting 3 6 Up/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 engaged.
  • 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