Difference between revisions of "DEWBOT VIII Control Team Page"

Revision as of 17:14, 21 February 2012

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

Hybrid Scenarios

1. Tip first, then move to key and shoot
   1. Then set up to steal
   2. Then collect and possibly shoot and set up to steal (if Kinect)
2. Shoot first
   1. Then set up to steal
   2. 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

1. "Fat Snake" : snake or automobile with long axis as front/back; used for ball collection, bridge crossing and balancing
2. "Turret Twist" : spin around center of bot to aim for shooting
3. "Skinny Snake" : snake or automobile with short axis as front/back; used for barrier crossing
4. 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.