2011:Autonomous: Difference between revisions

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Autonomous Actions  
= Autonomous Actions =


We split it up into three stages.<br>1. Approach the pegs.<br>2. Put Ubertube on pegs.<br>3. Ending action.<br>
We split it up into three stages:


Approach pegs
#Starting Positions and Actions (Approach the pegs) with Peg Height (Put Ubertube on pegs)  
 
#Ending action
<br>
#End Autonomous
 
Strategy 0:<br>1.) Do nothing<br>1.5) Stop all internal motors<br>1.5.5) Stop everything<br>2.) Wait for Teleoperated mode<br>3.) Go to -&gt; Teleoperated mode
 
<br>
 
<br>Strategy 1<br>Straight line (left side)
 
1.) Drive Forward 244.9 inches on line
 
1.5.) Raise arm upward as driving to position for middle peg<br>
 
2.) If all done....
 
2.5) go to -&gt; Place ubertube
 
<br>
 
<br>Strategy 2<br>Straight line (right side)
 
1.) Drive Forward 244.9 inches on line
 
1.5.) Raise arm upward as driving to position for middle peg<br>
 
2.) If all done....
 
2.5) go to -&gt; Place ubertube
 
<br>
 
<br>Strategy 3<br>Center line (left fork)
 
1.)Go foward to fork (while raising arm to 90deg. and turning tube via manip. so as it is parallel to ground);
 
2.)At fork, stop at fork
 
3.)drive slightly more (to no longer see line, half the robot distance so we can turn correctly)
 
4.)Turn until line is visible.;
 
5.)drive forward (while following line);
 
6.)stop and turn to line up with pegs;
 
7.)go to -&gt;place ubertube;
 
(Possible to back up, and repeats five and six after step six to line up correctly)<br>
 
<br>Strategy 4<br>Center line (right fork)
 
1.)Go foward to fork (while raising arm to 90deg. and turning tube via manip. so as it is parallel to ground);
 
2.)At fork, stop at fork
 
3.)drive slightly more (to no longer see line, half the robot distance so we can turn correctly)
 
4.)Turn until line is visible.;<br>
 
6.)stop and turn to line up with pegs;<br>
 
7.)go to -&gt;place ubertube;
 
(Possible to back up, and repeats five and six after step six to line up correctly)  
 
<br>


<br>
<br>


Strategy 5<br>Dead Reckoning (Striaght line)
To tell the robot which set of actions to perform you select an autonomous mode using the classmate or a paper handbook, which tells you three numbers that you plug in using a keypad on the driver’s station. The robot understands and runs based on the numbers. (Example 000 tells the robot to do nothing during autonomous).  
 
1.) Drive Forward 244.9 inches


1.5.) Raise arm to middle peg position
=== '''Start Positions and Actions'''<br>  ===


1.5.5)Turn manipulator belts to positon tube for placement
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
| width="150" | '''Start Positions and Actions:'''
| width="880" colspan="4" | 0 Do nothing
|-
| width="150" | '''Peg Height:'''
| width="130" | 0 Do Nothing
| width="250" | 1 Top Peg (Normal Height)
| width="250" | 2 Middle peg (Normal Height)
| width="250" | 3 Low peg (Normal Height)
|-
| <br>
| <br>
| width="880" colspan="3" | <br>
|-
| <br>
| <br>
| align="left" width="250" valign="top" | <br>
| align="left" width="250" valign="top" | <br>
| align="left" width="250" valign="top" | <br>
|-
| <br>
| width="880" colspan="4" |
*Go to -&gt; End Autonomous


2.) Go to -&gt; Ubertube Placement
|}


<br>  
<br>  
<br>Strategy 6<br>Dead Reckoning (Center Line Left fork)
1.) Drive Forward 157.3 inches
1.5.) Raise arm to middle peg position<br>
2.) Turn 35deg Counterclockwise
3.) Drive forward 67.5 inches
4.) Turn 35deg Clockwise
5.) Go to -&gt; Place Ubertube


<br>  
<br>  


<br>  
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
| width="150" | '''Start Positions and Actions:'''
| width="880" colspan="4" | 1 Follow straight line (Left side) and<br>2 Follow straight line (Right side)
|-
| width="150" | '''Peg Height:'''
| width="130" | 0 Do Nothing
| width="250" | 1 Top Peg (Offset Height)
| width="250" | 2 Middle peg (Offset Height)
| width="250" | 3 Low peg (Offset Height)
|-
| <br>
| <br>
| width="880" colspan="3" |
*Drive Forward 219? inches on line [be far enough away from pegs to move arm without hitting pegs]
*While driving: Move arm to middle peg position [do not twist tube]


Strategy 7<br>Dead Reckoning (Center Line right fork)
|-
| <br>  
| <br>
| align="left" width="250" valign="top" |
*Have manip. twist tube to '''top''' peg angle
*Move arm to '''top''' peg
*Drive Forward '''30?''' inches


1.) Drive Forward 157.3 inches  
| align="left" width="250" valign="top" |
*Have manip. twist tube to '''middle''' peg angle
*'''arm doesn't move'''
*Drive Forward '''24?''' inches


1.5.) Raise arm to middle peg position<br>
| align="left" width="250" valign="top" |
*Have manip. twist tube to '''low''' peg angle
*Move arm to '''low''' peg  
*Drive forward '''28?''' inches


2.) Turn 35deg clockwise
|-
| <br>
| <br>
| width="880" colspan="3" |
*Eject tube
*Back up same amount we drove forward


3.) Drive forward 67.5 inches
|-
| <br>
|
*Go to -&gt; End Autonomous


4.) Turn 35deg CounterClockwise
| width="880" colspan="3" |
*Go to -&gt; Ending Action


5.) Go to -&gt; Place Ubertube
|}


<br>  
<br>  
<br>Stage 2: Ubertube Placement
<br>
Strategy 0<br>Do nothing
<br>1.) Stop all internal functions
2.) Wait for Teleoperated mode
3.)Go to -&gt; Teleoperated mode


<br>  
<br>  


Strategy 1<br>Top Peg (Normal Height)<br>
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
| width="150" | '''Start Positions and Actions:'''
| width="880" colspan="4" | 3 Follow center line (Left fork) and<br>4 Follow center line (Right fork)
|-
| width="150" | '''Peg Height:'''
| width="130" | 0 Do Nothing
| width="250" | 1 Top Peg (Normal Height)  
| width="250" | 2 Middle peg (Normal Height)
| width="250" | 3 Low peg (Normal Height)
|-
| <br>  
| <br>
| width="880" colspan="3" |
*Go foward to fork (while raising arm to middle peg offset.)
*drive slightly more (to no longer see line, half the robot distance so we can turn correctly(19? inches))
*Turn left/right until line is visible.


1.) Have manip. twist tube to top peg height angle.<br>
|-
| <br>
| <br>
| align="left" width="250" valign="top" |
*Tell Manip to angle tube to top peg positon
*Raise arm to top peg height  
*Drive forward (while following line) 60? inches
*Turn 28?/-28? degrees
*Go forward 24? inches


1.5.) Raise arm to top peg <br>
| align="left" width="250" valign="top" |
*Tell Manip. to angle tube to middle peg positon.  
*Raise arm to middle peg height
*Drive forward (while following line) 60? inches
*Turn 30?/-30? degrees
*Go forward 36? inches


2.)Drive Forward 30 inches (?)<br>
| align="left" width="250" valign="top" |
*Tell manipulator to angle tube to low peg position.  
*Raise arm to low peg height
*Drive forward (while following line) 60? inches  
*Turn 29?/-29? degrees
*Go forward 34? inches


3.) Eject tube onto peg  
|-
| <br>
| <br>
| width="880" colspan="3" |
*Eject tube  
*Back up (Same distance as last drive forward)
*align robot so it is parallel to the line and same distance from wall as Straight Line and Dead Reckoning
**if right fork: turn -(60 + same angle as last turn) degrees
**if left fork: turn -(-60 + same angle as last turn) degrees
**Drive Backwards (16 + 45 - same distance as last drove backward) inches [note: 45 is the amount from the front of the peg]


4.) Back up 30 inches<br>
|-
| <br>  
|
*Go to -&gt; End Autonomous


5.) Raise arm to max height
| width="880" colspan="3" |
*Go to -&gt; Ending Action


6.) Go to -&gt; Final Action
|}


<br>  
<br>  
Strategy 2<br>//Top Peg (offset Height)
//0.5.) 1.) Have manip. twist tube to low peg height angle.<br>
//1.) Drive back 3 inches<br>
//2.) Move arm down 8 inches
//3.) Drive forward 2 inches
//4.) Eject tube
//5.) Back up 24 inches<br>
//6.) Move arm up to max height
//7.) Go to -&gt; Final Action*//
<br>
<br>Strategy 3<br>Middle peg (Normal Height)<br>
&nbsp;1.) Have manip. twist tube to middle peg height angle.<br>
1.5.) Drive Forward 24 inches (?)<br>
4.) Eject tube
5.) Move back 24 inches<br>
6.) Move arm up to max height
7.) Go to -&gt; Final Action


<br>  
<br>  


//Strategy 4<br>//Middle peg (Offset Height)  
{| cellspacing="1" cellpadding="1" border="1" width="750"
 
|-
//1.) Have manip. twist tube to low peg height angle..<br>  
| width="150" | '''Start Positions and Actions:'''
 
| width="880" colspan="4" | Dead Reckoning offset pegs
//2.) Drive back 15 inches
|-
 
| width="150" | '''Peg Height:'''
//3.) Lower arm 38 inches
| width="130" | 0 Do Nothing
 
| width="250" | 1 Top Peg (Offset Height)
//3.) Drive forward 3 inches  
| width="250" | 2 Middle peg (Offset Height)  
 
| width="250" | 3 Low peg (Offset Height)
//4.) Eject tube
|-
| <br>  
| <br>
| width="880" colspan="3" |
*Drive Forward 245? inches  
*Raise arm to middle peg positon (while driving)


//5.) Move arm up to max height  
|-
| <br>
| <br>
| align="left" width="250" valign="top" |
*Move arm to top peg offset height
*Have Manip. angle tube for top peg offset height  
*Drive forward 36 inches


//6.) Go to -&gt; Final Action
| align="left" width="250" valign="top" |
*Move arm to middle peg offset height
*Have Manip. angle tube for middle peg offset height
*Drive forward 24 inches


<br>
| align="left" width="250" valign="top" |
*Move arm to low peg offset height
*Have Manip. angle tube for low peg offset height
*&nbsp;Drive forward 30 inches


Strategy 5 <br>Low peg (Normal Height)
|-
| <br>  
| <br>
| width="880" colspan="3" |
*Eject tube
*Back up same amount we drove forward


1.) Have manip. twist tube to low peg height angle.<br>
|-
| <br>  
|
*Go to -&gt; End Autonomous


1.5.) Lower arm to low height.
| width="880" colspan="3" |
 
*Go to -&gt; Ending Action
3.) Drive forward 24 inches
 
4.) Eject tube
 
5.) Back up 24 inches<br>
 
5.) Move arm up to max height
 
6.) Go to -&gt; Final Action
 
<br>//Strategy 6<br>//Low peg (offset Height)
 
//0.5.) Move Tube angle to appropriate height.<br>
 
//1.) Drive back 27 inches
 
//2.) Lower arm 90 inches
 
//3.) Drive forward 3 inches
 
//4.) Eject tube
 
//5.) Move arm to max height
 
//6.) Go to -&gt; Final Action  
 
<br>


<br>Stage 3: Final Action
|}


<br>  
<br>  
Strategy 1<br>Do nothing
1.) Stop all motors
2.) Wait for teleoperated mode
3.) Go to -&gt; Teleoperated


<br>  
<br>  


Strategy 2<br>Turn around and do nothing
{| cellspacing="1" cellpadding="1" border="1" width="750"
 
|-
1.) Turn 180deg
| width="150" | '''Start Positions and Actions:'''
 
| width="880" colspan="4" | Dead Reckoning
2.) Stop all motors
|-
 
| width="150" | '''Peg Height:'''
3.) Wait for teleoperated mode
| width="130" | 0 Do Nothing
| width="250" | 1 Top Peg (Normal Height)  
| width="250" | 2 Middle peg (Normal Height)
| width="250" | 3 Low peg (Normal Height)
|-
| <br>
| <br>
| width="880" colspan="3" |
*Drive Forward 245? inches
*Raise arm to middle peg positon (while driving)


4.) Go to -&gt; Teleoperated
|-
| <br>
| <br>
| align="left" width="250" valign="top" |
*Move arm to top peg height
*Have Manip. angle tube for top peg height
*Drive forward 36? inches


<br>
| align="left" width="250" valign="top" |
*Move arm to middle peg height
*Have Manip. angle tube for middle peg height
*Drive forward 24? inches


<br>Strategy 3<br>Go to midfield while driving backwards
| align="left" width="250" valign="top" |
*Move arm to low peg height
*Have Manip. angle tube for low peg height
*&nbsp;Drive forward 30? inches


1.) Drive forward -245 inches
|-
| <br>
| <br>
| width="880" colspan="3" |
*Eject tube
*Back up same amount we drove forward


2.) Stop all motors
|-
| <br>
|
*Go to -&gt; End Autonomous


3.) Wait for teleoperated mode
| width="880" colspan="3" |
*Go to -&gt; Ending Action


4.) Go to -&gt; Teleoperated mode
|}


<br>  
<br>  
Line 279: Line 279:
<br>  
<br>  


Strategy 4<br>Drive to midfield backwards, then turn!
<br>


1.) Drive forward -245 inches
=== '''Ending Actions'''<br> ===


2.) Turn 180 deg
{| border="1" cellspacing="1" cellpadding="1" width="750"
|-
| width="150" | '''Ending Action:'''
| width="130" | 0 Do Nothing
| width="250" | 1 Stay at pegs don't turn (do nothing #&nbsp; 2)<br>
| width="250" | &nbsp; 2 Stay at pegs (turn 180)
| width="250" |
3 Go to Midfield (drive backwards)


3.) Stop all motors
| width="250" | 4 Go to Midfield (turn 180) <br>
| width="250" | 5&nbsp;
|-
| <br>
| <br>
| width="880" colspan="5" |
*Raise arm to max height


4.) Wait for Teleoperated mode
|-
| <br>
| <br>
| valign="top" width="250" align="left" | <br>
| valign="top" width="250" align="left" |
*Turn 180 degrees<br>


5.) Go to -&gt; Teleoperated mode
| valign="top" width="250" align="left" |
*Drive backwards 229? inches [note: stay 3 feet away from midfield]<br><br>


<br>  
| valign="top" width="250" align="left" |
*Drive backwards 229? inches [note: stay 3 feet away from midfield]<br>
*Turn 180 degrees


Strategey 5<br>Go to right lane to block incoming opposing alliance robots
| valign="top" width="250" align="left" |
|-
| <br>
| width="880" colspan="6" |
*Go to -&gt; End Autonomous


1.) Drive backwards
|}


2.) Turn 90deg Counterclockwise
<br>


3.) Drive until reached lane
<br>


4.) Stop all motors
<br>
 
5.) Wait for teleoperated mode
 
6.) Go to -&gt; Teleoperated mode


<br>  
=== '''End Autonomous'''<br> ===


Strategey 5<br>Go to leftlane to block incoming opposing alliance robots
{| border="1" cellspacing="1" cellpadding="1" width="750"
|-
| <br>
| width="880" colspan="6" |
*Stop all motors
*Wait for Teleoperated mode
*Go to -&gt; Teleoperated mode


1.) Drive backwards
| <br>
 
|}
2.) Turn 90deg Clockwise
 
3.) Drive until reached lane
 
4.) Stop all motors
 
5.) Wait for teleoperated mode
 
6.) Go to -&gt; Teleoperated mode<br>
 
<br>  
 
<br>
 
To tell the robot which set of actions to perform you select an autonomous mode using the classmate or a paper handbook, which tells you three numbers that you plug in using a keypad on the driver’s station. The robot understands and runs based on the numbers. (Example 000 tells the robot to do nothing during autonomous).
 
<br>
 
<br>

Latest revision as of 10:42, 6 January 2012

Autonomous Actions

We split it up into three stages:

  1. Starting Positions and Actions (Approach the pegs) with Peg Height (Put Ubertube on pegs)
  2. Ending action
  3. End Autonomous


To tell the robot which set of actions to perform you select an autonomous mode using the classmate or a paper handbook, which tells you three numbers that you plug in using a keypad on the driver’s station. The robot understands and runs based on the numbers. (Example 000 tells the robot to do nothing during autonomous).

Start Positions and Actions

Start Positions and Actions: 0 Do nothing
Peg Height: 0 Do Nothing 1 Top Peg (Normal Height) 2 Middle peg (Normal Height) 3 Low peg (Normal Height)









  • Go to -> End Autonomous



Start Positions and Actions: 1 Follow straight line (Left side) and
2 Follow straight line (Right side)
Peg Height: 0 Do Nothing 1 Top Peg (Offset Height) 2 Middle peg (Offset Height) 3 Low peg (Offset Height)


  • Drive Forward 219? inches on line [be far enough away from pegs to move arm without hitting pegs]
  • While driving: Move arm to middle peg position [do not twist tube]
  • Have manip. twist tube to top peg angle
  • Move arm to top peg
  • Drive Forward 30? inches
  • Have manip. twist tube to middle peg angle
  • arm doesn't move
  • Drive Forward 24? inches
  • Have manip. twist tube to low peg angle
  • Move arm to low peg
  • Drive forward 28? inches
  • Eject tube
  • Back up same amount we drove forward
  • Go to -> End Autonomous
  • Go to -> Ending Action



Start Positions and Actions: 3 Follow center line (Left fork) and
4 Follow center line (Right fork)
Peg Height: 0 Do Nothing 1 Top Peg (Normal Height) 2 Middle peg (Normal Height) 3 Low peg (Normal Height)


  • Go foward to fork (while raising arm to middle peg offset.)
  • drive slightly more (to no longer see line, half the robot distance so we can turn correctly(19? inches))
  • Turn left/right until line is visible.
  • Tell Manip to angle tube to top peg positon
  • Raise arm to top peg height
  • Drive forward (while following line) 60? inches
  • Turn 28?/-28? degrees
  • Go forward 24? inches
  • Tell Manip. to angle tube to middle peg positon.
  • Raise arm to middle peg height
  • Drive forward (while following line) 60? inches
  • Turn 30?/-30? degrees
  • Go forward 36? inches
  • Tell manipulator to angle tube to low peg position.
  • Raise arm to low peg height
  • Drive forward (while following line) 60? inches
  • Turn 29?/-29? degrees
  • Go forward 34? inches
  • Eject tube
  • Back up (Same distance as last drive forward)
  • align robot so it is parallel to the line and same distance from wall as Straight Line and Dead Reckoning
    • if right fork: turn -(60 + same angle as last turn) degrees
    • if left fork: turn -(-60 + same angle as last turn) degrees
    • Drive Backwards (16 + 45 - same distance as last drove backward) inches [note: 45 is the amount from the front of the peg]
  • Go to -> End Autonomous
  • Go to -> Ending Action



Start Positions and Actions: Dead Reckoning offset pegs
Peg Height: 0 Do Nothing 1 Top Peg (Offset Height) 2 Middle peg (Offset Height) 3 Low peg (Offset Height)


  • Drive Forward 245? inches
  • Raise arm to middle peg positon (while driving)
  • Move arm to top peg offset height
  • Have Manip. angle tube for top peg offset height
  • Drive forward 36 inches
  • Move arm to middle peg offset height
  • Have Manip. angle tube for middle peg offset height
  • Drive forward 24 inches
  • Move arm to low peg offset height
  • Have Manip. angle tube for low peg offset height
  •  Drive forward 30 inches
  • Eject tube
  • Back up same amount we drove forward
  • Go to -> End Autonomous
  • Go to -> Ending Action



Start Positions and Actions: Dead Reckoning
Peg Height: 0 Do Nothing 1 Top Peg (Normal Height) 2 Middle peg (Normal Height) 3 Low peg (Normal Height)


  • Drive Forward 245? inches
  • Raise arm to middle peg positon (while driving)
  • Move arm to top peg height
  • Have Manip. angle tube for top peg height
  • Drive forward 36? inches
  • Move arm to middle peg height
  • Have Manip. angle tube for middle peg height
  • Drive forward 24? inches
  • Move arm to low peg height
  • Have Manip. angle tube for low peg height
  •  Drive forward 30? inches
  • Eject tube
  • Back up same amount we drove forward
  • Go to -> End Autonomous
  • Go to -> Ending Action




Ending Actions

Ending Action: 0 Do Nothing 1 Stay at pegs don't turn (do nothing #  2)
   2 Stay at pegs (turn 180)

3 Go to Midfield (drive backwards)

4 Go to Midfield (turn 180)
5 


  • Raise arm to max height

  • Turn 180 degrees
  • Drive backwards 229? inches [note: stay 3 feet away from midfield]
  • Drive backwards 229? inches [note: stay 3 feet away from midfield]
  • Turn 180 degrees

  • Go to -> End Autonomous




End Autonomous
  • Stop all motors
  • Wait for Teleoperated mode
  • Go to -> Teleoperated mode
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