2011:Autonomous: Difference between revisions

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= Autonomous Actions  =
= Autonomous Actions  =


We split it up into three stages:<br>1. Starting Positions and Actions (Approach the pegs)<br>2. Peg Height (Put Ubertube on pegs)<br>3. Ending action.<br>
We split it up into three stages:  


<br>  
#Starting Positions and Actions (Approach the pegs) with Peg Height (Put Ubertube on pegs)
#Ending action
#End Autonomous
 
<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).  
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).  
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=== '''Start Positions and Actions'''<br>  ===
=== '''Start Positions and Actions'''<br>  ===


{| cellspacing="1" cellpadding="1" border="1" width="750px"
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
|-
| width="150" | '''Start Positions and Actions:'''  
| width="150" | '''Start Positions and Actions:'''  
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| <br>  
| <br>  
| <br>  
| <br>  
| valign="top" align="left" width="250" | <br>  
| align="left" width="250" valign="top" | <br>  
| valign="top" align="left" width="250" | <br>  
| align="left" width="250" valign="top" | <br>  
| valign="top" align="left" width="250" | <br>
| align="left" width="250" valign="top" | <br>
|-
|-
| <br>  
| <br>  
| width="880" colspan="4" |  
| width="880" colspan="4" |  
*Go to -&gt; Ending Action
*Go to -&gt; End Autonomous


|}
|}
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<br>  
<br>  


{| cellspacing="1" cellpadding="1" border="1" width="750px"
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
|-
| width="150" | '''Start Positions and Actions:'''  
| 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="880" colspan="4" | 1 Follow straight line (Left side) and<br>2 Follow straight line (Right side)
|-
|-
| width="150" | '''Peg Height:'''  
| width="150" | '''Peg Height:'''  
| width="130" | 0 Do Nothing  
| width="130" | 0 Do Nothing  
| width="250" | 1 Top Peg (Normal Height)  
| width="250" | 1 Top Peg (Offset Height)  
| width="250" | 2 Middle peg (Normal Height)  
| width="250" | 2 Middle peg (Offset Height)  
| width="250" | 3 Low peg (Normal Height)
| width="250" | 3 Low peg (Offset Height)
|-
|-
| <br>  
| <br>  
| <br>  
| <br>  
| width="880" colspan="3" |  
| width="880" colspan="3" |  
*Drive Forward 245? inches on line [be far enough away from pegs to move arm without hitting pegs]  
*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]
*While driving: Move arm to middle peg position [do not twist tube]


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| <br>  
| <br>  
| <br>  
| <br>  
| valign="top" align="left" width="250" |  
| align="left" width="250" valign="top" |  
*Have manip. twist tube to '''top''' peg angle  
*Have manip. twist tube to '''top''' peg angle  
*Move arm to '''top''' peg  
*Move arm to '''top''' peg  
*Drive Forward '''30?''' inches
*Drive Forward '''30?''' inches


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


| valign="top" align="left" width="250" |  
| align="left" width="250" valign="top" |  
*Have manip. twist tube to '''low''' peg angle  
*Have manip. twist tube to '''low''' peg angle  
*Move arm to '''low''' peg  
*Move arm to '''low''' peg  
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| width="880" colspan="3" |  
| width="880" colspan="3" |  
*Eject tube  
*Eject tube  
*Back up same amount we drove forward <br>
*Back up same amount we drove forward


|-
|-
| <br>  
| <br>  
| width="880" colspan="4" |  
|
*Go to -&gt; Ending Action<br>
*Go to -&gt; End Autonomous
 
| width="880" colspan="3" |  
*Go to -&gt; Ending Action


|}
|}
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<br>  
<br>  


{| cellspacing="1" cellpadding="1" border="1" width="750px"
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
|-
| width="150" | '''Start Positions and Actions:'''  
| width="150" | '''Start Positions and Actions:'''  
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| width="880" colspan="3" |  
| width="880" colspan="3" |  
*Go foward to fork (while raising arm to middle peg offset.)  
*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))<br>
*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.<br>
*Turn left/right until line is visible.


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


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


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


|-
|-
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| <br>  
| <br>  
| width="880" colspan="3" |  
| width="880" colspan="3" |  
*Eject tube<br>
*Eject tube  
*Back up (Same distance as last drive forward) <br>
*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  
*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<br>
**if right fork: turn -(60 + same angle as last turn) degrees  
**if left 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]
**Drive Backwards (16 + 45 - same distance as last drove backward) inches [note: 45 is the amount from the front of the peg]
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|-
|-
| <br>  
| <br>  
| width="880" colspan="4" |  
|
*Go to -&gt; Ending Action<br>
*Go to -&gt; End Autonomous
 
| width="880" colspan="3" |  
*Go to -&gt; Ending Action


|}
|}
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<br>  
<br>  


{| cellspacing="1" cellpadding="1" border="1" width="750px"
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
|-
| width="150" | '''Start Positions and Actions:'''  
| width="150" | '''Start Positions and Actions:'''  
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| width="880" colspan="3" |  
| width="880" colspan="3" |  
*Drive Forward 245? inches  
*Drive Forward 245? inches  
*Raise arm to middle peg positon (while driving)<br>
*Raise arm to middle peg positon (while driving)


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


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


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


|-
|-
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| width="880" colspan="3" |  
| width="880" colspan="3" |  
*Eject tube  
*Eject tube  
*Back up same amount we drove forward <br>
*Back up same amount we drove forward


|-
|-
| <br>  
| <br>  
| width="880" colspan="4" |  
|
*Go to -&gt; End Autonomous
 
| width="880" colspan="3" |  
*Go to -&gt; Ending Action
*Go to -&gt; Ending Action


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<br>  
<br>  


{| cellspacing="1" cellpadding="1" border="1" width="750px"
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
|-
| width="150" | '''Start Positions and Actions:'''  
| width="150" | '''Start Positions and Actions:'''  
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| width="880" colspan="3" |  
| width="880" colspan="3" |  
*Drive Forward 245? inches  
*Drive Forward 245? inches  
*Raise arm to middle peg positon (while driving)<br>
*Raise arm to middle peg positon (while driving)


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


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


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


|-
|-
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| width="880" colspan="3" |  
| width="880" colspan="3" |  
*Eject tube  
*Eject tube  
*Back up same amount we drove forward <br>
*Back up same amount we drove forward


|-
|-
| <br>  
| <br>  
| width="880" colspan="4" |  
|
*Go to -&gt; End Autonomous
 
| width="880" colspan="3" |  
*Go to -&gt; Ending Action
*Go to -&gt; Ending Action


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<br>  
<br>  


<br>  
<br>


=== '''Ending Actions'''<br> ===
=== '''Ending Actions'''<br> ===


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


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


|-
| <br>
| <br>
|-
| <br>
| <br>
| valign="top" width="250" align="left" | <br>
| <br>  
| valign="top" width="250" align="left" |  
| valign="top" align="left" width="250" | <br>  
| valign="top" align="left" width="250" |  
*Turn 180 degrees<br>
*Turn 180 degrees<br>


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


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


| valign="top" align="left" width="250" |  
| valign="top" width="250" align="left" |  
|-
|-
| <br>  
| <br>
| width="880" colspan="6" |
*Go to -&gt; End Autonomous
 
|}
 
<br>
 
<br>
 
<br>
 
=== '''End Autonomous'''<br> ===
 
{| border="1" cellspacing="1" cellpadding="1" width="750"
|-
| <br>
| width="880" colspan="6" |  
| width="880" colspan="6" |  
*Stop all motors  
*Stop all motors  

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)


  • 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