Difference between revisions of "Stronghold Meeting - 17-Jan-2016"

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(Programming)
(Programming)
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==Programming==
 
==Programming==
  
- We started by testing the program written yesterday to turn towards a piece of retro-reflective tape.  
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- We developed a new system for selecting the drive type.  
  
:- After working out some bugs, we were able to get the robot to turn by moving the tape. It was very exciting!
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:-This year, arcade/tank, gyro correction, auto aim, and (if necessary) anti-tip will all be supported.
  
:- Next, we tried correcting for distance using center Y. Using the same system as we used for correcting the turn, we were able to get this working as well.  
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:-At any time, all of these may be turned on. We needed a way to allow for different features to be prioritized. For example, anti tip takes priority over the vision auto aim.  
  
:- Finally, we combined the two, so the robot would turn and move forward based on the tape. We were able to have the robot follow a piece of tape around the warehouse. It worked quite well.
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:-We decided to store the priority in an integer. Each bit of the integer would be if each feature was on / off. The highest bit would be the highest priority. This code became much more streamlined and robust than simply using if statements for every feature. Adding a feature becomes very easy.  
  
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- We also worked on having our code start GRIP instead of manually. This way the drivers would not have to start it before each match.
  
- We also worked on organizing the drive code in the new 2016 project.
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:-After trying many different things, we were finally able to get the program to run GRIP. However, we then noticed that GRIP was eating up quite a bit of RAM.
 
 
:-All unnecessary files were removed, especially those regarding swerve.
 
 
 
:-We then modified the DriveControl abstract class to take the correct joystick inputs.
 
 
 
:-We were able to keep the same architecture for the drive code, which means our design is very robust. It can even withstand a brand new drive train.
 
 
 
:-We added classes for tank and arcade drive. They can not be tested today, because we do not have a tank robot yet.
 
 
 
:-We also modified the gyro correction to work with arcade.
 
  
 
==Field Elements==
 
==Field Elements==

Revision as of 07:59, 24 January 2016

Competition Season Meeting

Meeting Date Meeting Time Location Attendees
TCHS Brandywine

CAD & Design

Mechanical

Programming

- We developed a new system for selecting the drive type.

-This year, arcade/tank, gyro correction, auto aim, and (if necessary) anti-tip will all be supported.
-At any time, all of these may be turned on. We needed a way to allow for different features to be prioritized. For example, anti tip takes priority over the vision auto aim.
-We decided to store the priority in an integer. Each bit of the integer would be if each feature was on / off. The highest bit would be the highest priority. This code became much more streamlined and robust than simply using if statements for every feature. Adding a feature becomes very easy.

- We also worked on having our code start GRIP instead of manually. This way the drivers would not have to start it before each match.

-After trying many different things, we were finally able to get the program to run GRIP. However, we then noticed that GRIP was eating up quite a bit of RAM.

Field Elements



Recorded by: Date: Journal Editor: Date: