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Electrical & Code 2020
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Shooter 2020
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Work Completed
- Mandatory
Ate Jimmy Johns
Did a little more testing on the distance formula the camera uses
Figured it worked well enough for now.
In the "Calculate Distance" command, I added code to make the robot drive forward until it is within a certain distance of the target.
At around 2 feet from the target, the camera is no longer able to see the retroreflective tape and we lose values
The code checks distance in the "is finished" function
Created a command group named "drive to gear" (not a good name)
It repeats a four step process 10 times
1. Rotates towards the peg
2. Drives towards it for 1 second
3. Put motors in reverse to stop robot
4. sets motor values to 0 (no movement)
This is not 100% accurate, but it helps the robot go in an choppy arc towards the peg.
Challenges
- Mandatory
The battery velcro is weak, and when mikhail drives the battery flies out of the robot
When the robot gets too close to the gear peg it loses vision.
without automatic adjustment for driving, the robot sucks at going straight.
Turning small amounts (as needed when we rotate towards the peg) is choppy
We are running out of buttons for testing haha.
At the moment, the code is checking the camera values way too often.
Work for Next Meeting
- Mandatory
Continue work on moving to the peg
At the moment, we are constantly checking distance values to see how far we are, but we need to do something like "rotate_to_gear" where it checks the value once and then moves to it
This might mean using encoders to see how far we have moved
confirm and order electrical bom for new robots
Work on auto mode that follows path, similar to one we'd need to get to a peg, test and see how consistently it can be navigated
Work on electrical organization for new robot.
Auto strafing based on position values from camera and network tables
Test out the NavX more, decide if it's a better gyro than our regular gyro, and what other features might be useful.
If not using NavX, do some testing with the gyro to see how far off the values are, seeing if it is possible to fix the inaccuracies...
Get streaming working well on raspi
Probably use custom python http server in vision_helper script
example http://answers.opencv.org/question/61070/streaming-http-server-from-inside-opencv2-python-script/
Get exposure control on driverstations (Needs Work)
works on linux, not windows
List from Mike (preventative measures):
Batteries
Battery Beak, logging and tracking internal resistance
Make a google spreadsheet to track battery data
Use computer to collect data/make a graph about voltage over time
Put meaningful labels on the batteries
Build load testing board
Resistors!
Power Distribution Panel
​
Can read voltage/current on every port
Could be used for diagnostics
Make a checklis
t
Learn how to read LED indicators on all components
Guidlines for checking wire integrity
Unit tests in robot code
Check to see if sensors are working?
Motors running correctly
Battery has enough voltage
Check the pneumatic pressure as well as solenoids
Useful for prematch/prebagging​
Voltimeter between the various locations
Sensors
Range finders - analog IO -> RIO (code)
Touch sensor - digital IO -> RIO (code)
Checkout Code // Comptetion Code
​
On Schedule?
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Possibly
Notes
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