Note Viewer

A little more detail on these vision targets...

- Every spot where a hatch panel is picked up or placed (ie. the loading dock, the cargo ship, the rocket) all have the exact same vision targets above the location where the hatch panel is placed. 

From the DEEP SPACE MANUAL: "Vision targets are located on the ROCKETS, CARGO SHIPS, and LOADING STATIONS and highlight the locations of the HATCHES, PORTS, and HATCH PANEL retrieval locations. A vision target is a pair of 5½ in. (~14 cm) long by 2 in. (~5 cm) wide strips of 3M 8830 Scotchlite Reflective Material. Strips are angled toward each other at ~14.5 degrees and such that there’s an 8-in. (~20 cm) gap at their closest points. Vision targets on the “front” face of the ROCKET highlight the top of the lowest PORT and are 3 ft 3⅛ in. (~99 cm) above the carpet at their highest point. Vision targets on the “side” faces of the ROCKET highlight the location of the top of the lowest HATCH and are 2 ft 7½ in. (~80 cm) above the carpet at their highest point (the same height as the top of the HATCH opening). Vision targets also highlight the locations of the tops of each CARGO SHIP HATCH and the tops of each LOADING STATION HATCH (at the same height as the ROCKET HATCH targets)." 

- Check the game manual for pictures (pg 31 and Figure 4-31)

- We believe that these will be critical in placing hatches reliably and quickly

• Ordered crimper and crimps for PWM (Check the BOM for the specific crimper)
  • This crimper and crimps will allow us to make PWM cables that are the exact right length
  • No more soldering will be required which is not as durable and not always done correctly
  • Quicker fixes will be able to happen on the robot
• Started learning limelight stuff
  • Earlier, Adam got limelight configured for two straight horizontal lines of reflective tape
  • Started using it for the actual targets on the hatch game elements
• Made two sets of the hatch game element vision targets on a piece of scrap wood stuff
  • Two mostly vertical strips of tape that are anlge 14.5 degrees, and are 8in apart at the closest point
  • Made of relfective tape that is used on the actual field elements
• Ziptied the omni wheels on poly so that it now only runs on blue tread wheels
  • This will allow us to use poly for our vision tracking tests
  • Because the pneumatic system on Poly is not currently working, due to some broken pistons and leaks, the second set of wheels were constantly dragging on the ground. Since they are now ziptied up, the robot will only run on the blue tread wheels and the omnis are no longer dragging on the ground.

None in particular from today, but throuhgout the season we need to determine how to use the vision tracking which may prove difficult...

Requirements for our prirotiy of semi-autonomous include

• Recognizing the vision target
• Determing how far our current robot position is from the ideal position to place a hatch in the correct location
• Moving the robot towards the ideal position
• Determing when the robot is in ideal position and stopping all movement

• Continue learning how to use limelight
• Determine if limelight can distinguish between the two separate targets 
• Get limelight working on poly to move according to it's posotion when compared to the reflective target
• Determine what other tools and electronics we need for the next season
• Make Robot 2019 code repository
• Help other subteams

Probably

Q: Which of King Arthur's knights built the round table?

A: Sir Cumference