Skip to content
This repository was archived by the owner on Jul 10, 2019. It is now read-only.

Control Award Talking Points

Jump to bottom
blakeelias edited this page Mar 27, 2011 · 9 revisions

Might we consider giving an overview of a match in order of events, talking about each aspect of the control system as it comes up? Go through that quickly, and then elaborate on particular components as appropriate.

  • Autonomous

    • Choose routine with Thumbwheel switch
    • Line track w/ strafing

  • Teleoperated

    • Drive joysticks: forward/back/left/right, clockwise/counter clockwise
    • Arm position: ground
    • Arm joystick: acquire trigger
    • "Tube-acquired" light turns on
    • Choose any peg position
    • Rotate up/down in grabber, eject

  • End game

    • Special drive mode: camera feed, slow & reversed driving
    • Unfold drawbridge
    • Light turns on when touching pole
    • OI deploys minibot

  • OI box

    • Many things on the OI box
      • Arm position control
      • Trim pot
      • Autonomous setting
      • Minibot
      • Stuff's broken light
    • Cypress FirstTouch board

  • Code

    • Very OOPey
    • Objects correlate to physical parts on the robot
    • Code structure designed on whiteboard before a single line was written

  • Autonomous

    • Various routines with different distances, arm heights, back up/no back up
    • Distance based line tracking using strafing rather than rotating

  • Drivetrain

    • Magnum wheels
      • Two-joystick drive
        • Left stick - forward/reverse, strafe left/right
        • Right stick - rotation
    • Speed control
      • PID loop on each wheel
      • Weight gains to account for uneven weight distribution on robot
    • Encoders
      • getAvgDistance() - Returns distance traveled forward/back in inches
        • Finds the average of distances of all four encoders
        • Calculates distance in inches based on wheel circumference
        • Strafe left/right results in zero change in distance

  • Arm and grabber

    • Position control using OI buttons
    • Trim pot shifts all arm positions to correct error
    • OI button lights up when arm is near the button's position
    • Grabber
      • Two rollers - upper and lower
      • Intake, expectorate, rotate up and down
      • Tube acquired light - light on robot turns on when tube is acquired

  • Minibot

    • OI switch to deploy wings
    • OI switch to deploy minibot
    • OI button to retract deployer
    • Rear-facing camera
      • Points down at minibot deployer
      • Assists driver in aligning with pole
    • Minibot mode
      • Enabled when both drive stick triggers are held down
      • Reverses controls for camera POV control
      • 3/8 speed
Clone this wiki locally