Advanced Robotics Programming - Revision history

Mikets: /* Session 11: Path Following */

2024-08-18T22:46:12Z

Session 11: Path Following

← Older revision		Revision as of 15:46, 18 August 2024
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	=== Session 11: Path Following ===		=== Session 11: Path Following ===
	* ~~PurePursuit~~		* Introduce to Path Following
			** PID Drive
			** Pure Pursuit Drive

	=== Session 12: Auto-Assist Pickup ===		=== Session 12: Auto-Assist Pickup ===

Mikets: /* Hardware */

2024-08-18T22:44:38Z

Hardware

← Older revision		Revision as of 15:44, 18 August 2024
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	* Robot-In-A-Box		* Robot-In-A-Box
	* Raspberry Pi Coprocessor		* Raspberry Pi Coprocessor
			* USB camera

	=== Session 11: Path Following ===		=== Session 11: Path Following ===

Mikets: /* Session 10: Vision Subsystem */

2024-08-18T22:43:56Z

Session 10: Vision Subsystem

← Older revision		Revision as of 15:43, 18 August 2024
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	*** Detected Object Pose: Pose information of the detected object relative to the camera		*** Detected Object Pose: Pose information of the detected object relative to the camera
	*** Robot Pose: Robot Field Pose info (from AprilTag)		*** Robot Pose: Robot Field Pose info (from AprilTag)
	** How Vision Works~~: Vision processing is asynchronous~~		** How Vision Pipeline Works?
	*** ~~Capture~~ video frame for processing		*** Vision pipeline starts with capturing a video frame for processing.
	*** Process the frame to detect the object		*** Process the frame to detect the object(s).
	*** Compute detected object info		*** Compute detected object info.
	*** Communicate the result back to the Robot Controller		*** Communicate the result back to the Robot Controller.
	**** FTC: Coprocessor communicates via USB or I2C		**** FTC: Coprocessor communicates via USB or I2C
	**** FRC: Coprocessor communicates via Ethernet using Network Table		**** FRC: Coprocessor communicates via Ethernet using Network Table
			*** Vision processing is asynchronous: When calling vision to detect an object, it will return immediately either with the result of the last detected object or with a null if it is still busy processing the next frame.
			*** When calling vision, caller must check if the returned result has the info or if it is null. If it is null, it may mean Vision is still busy processing the next frame or it doesn't find the object it is seeking. In either case, the caller needs to keep calling Vision repeatedly until either it finds the object(s) or it has reached the timeout limit. One should always set a timeout when calling Vision repeatedly to prevent the code hanging forever if Vision doesn't find anything.
			*** Once the detected object info is obtained, the caller can use the info to determine what to do with it.
			**** Determine the object type detected or object position so to perform the subsequent tasks accordingly (e.g. detected team prop position in FTC).
			**** Navigate the robot towards the detected object as the scoring location or to pick the object up.

	==== Hardware ====		==== Hardware ====

Mikets: /* Class Curriculum */

2024-08-13T17:13:32Z

Class Curriculum

@@ Line 311: / Line 311: @@
 *** Tune Drive Base Odoemetry Scales.
 *** Tune Drive Base PID Coefficients.
 === Session 10: Vision Subsystem ===
 * Introduce Robotics Vision Subsystem.
-** AprilTag Detection
+** Vision running on the Robot Controller
-** Object Recognition
+*** CPU intensive, may affect robot performance
-** Color Blob Detection
+** Vision running on Vision Coprocessor
 === Session 11: Path Following ===

Mikets: /* Class Curriculum */

2024-08-12T01:34:03Z

Class Curriculum

Show changes

Mikets: /* Class Curriculum */

2024-08-11T22:57:46Z

Class Curriculum

← Older revision		Revision as of 15:57, 11 August 2024
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	* Introduce to the '''Motor Actuator''' class.		* Introduce to the '''Motor Actuator''' class.
	** Motor Actuator Parameters:		** Motor Actuator Parameters:
	*** ~~setMotorInverted~~		*** '''setPrimaryMotor''': Set the characteristics of the primary motor.
	*** setFollowerMotor		*** '''setFollowerMotor''': Set the characteristics of the follower motor if there is one.
	*** setLowerLimitSwitch		*** '''setLowerLimitSwitch''': Set the characteristics of the lower limit switch if there is one.
	*** setUpperLimitSwitch		*** '''setUpperLimitSwitch''': Set the characteristics of the upper limit switch if there is one.
	*** setExternalEncoder		*** '''setExternalEncoder''': Set the characteristics of the external encoder if there is one.
	*** ~~setVoltageCompensationEnabled~~		*** '''setPositionScaleAndOffset''': Set motor position scale and offset for translating to real world units
	~~***~~ setPositionScaleAndOffset		*** '''setPositionPresets''': Set position presets
	*** setPositionPresets
	** Exercise: Creating and Controlling an Elevator as a Motor Actuator.		** Exercise: Creating and Controlling an Elevator as a Motor Actuator.
	*** '''Elevator.java''': Create a new class named ''Elevator''.		*** '''Elevator.java''': Create a new class named ''Elevator''.
	**** Create the parameters for the Elevator ~~with optional preset positions~~		**** Create the parameters for the Elevator
			***** Set the characteristics of the primary motor
			***** Set the characteristics of the follower motor if there is one
			***** Set Elevator scale and offset to real world unit in inches
			***** Set position presets if appropriate
	**** Create the Elevator as a Motor Actuator using the parameters		**** Create the Elevator as a Motor Actuator using the parameters
	**** Set Elevator scale and offset to real world unit in inches
	**** Enable software PID control		**** Enable software PID control
	**** Set PID Coefficients and Tolerance		**** Set PID Coefficients and Tolerance
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	*** '''Arm.java''': Create a new class named ''Arm''.		*** '''Arm.java''': Create a new class named ''Arm''.
	**** Create the parameters for the Arm		**** Create the parameters for the Arm
			***** Set the characteristics of the primary motor
			***** Set the characteristics of the follower motor if there is one
			***** Set Arm scale and offset to real world unit in degrees
			***** Set position presets if appropriate
	**** Create the Arm as a Motor Actuator using the parameters		**** Create the Arm as a Motor Actuator using the parameters
	**** Set Arm scale and offset to real world units in degrees
	**** Enable software PID control		**** Enable software PID control
	**** Set PID Coefficients and Tolerance		**** Set PID Coefficients and Tolerance
	**** Set PID Power Compensation		**** Set PID Power Compensation
	**** Optionally set Stall Protection		**** Optionally set Stall Protection
	**** Optionally set Arm Preset Positions
	*** '''Robot.java''': Instantiate and initialize the Arm object. Add code to zero calibrate the Arm.		*** '''Robot.java''': Instantiate and initialize the Arm object. Add code to zero calibrate the Arm.
	*** '''FrcTeleOp.java''': Create code to control the Arm in TeleOp.		*** '''FrcTeleOp.java''': Create code to control the Arm in TeleOp.
	**** In the ''periodic'' method, add code to read the gamepad joystick and set Arm power with the value (setPower and setPidPower)		**** In the ''periodic'' method, add code to read the gamepad joystick and set Arm power with the value (setPower and setPidPower)
	**** In the ''driverControllerButtonEvent'' method, add code to use the DPad to move the Arm up and down the preset positions		**** In the ''driverControllerButtonEvent'' method, add code to use the DPad to move the Arm up and down the preset positions
	**** In the ''updateStatus'' method, add code to display the Arm status: power, pos/target, state of limit switches		*** '''Robot.java''': In the ''updateStatus'' method, add code to display the Arm status: power, pos/target, state of limit switches
	*** Calibrate Arm Scale, Offset and Position Limits.		*** Calibrate Arm Scale, Offset and Position Limits.
	*** Tune Arm position PID control.		*** Tune Arm position PID control.
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	*** '''Turret.java''': Create a new class named ''Turret''.		*** '''Turret.java''': Create a new class named ''Turret''.
	**** Create the parameters for the Turret		**** Create the parameters for the Turret
			***** Set the characteristics of the primary motor
			***** Set the characteristics of the follower motor if there is one
			***** Set Turret scale and offset to real world unit in degrees
			***** Set position presets if appropriate
	**** Create the Turret as a Motor Actuator using the parameters		**** Create the Turret as a Motor Actuator using the parameters
	**** Enable software PID control		**** Enable software PID control
	**** Set Turret scale and offset to real world units in degrees
	**** Set PID Coefficients and Tolerance		**** Set PID Coefficients and Tolerance
	**** Optionally set Stall Protection		**** Optionally set Stall Protection
	**** Optionally set Turret Preset Positions
	*** '''Robot.java''': Instantiate and initialize the Turret object. Add code to zero calibrate the Turret.		*** '''Robot.java''': Instantiate and initialize the Turret object. Add code to zero calibrate the Turret.
	*** '''FrcTeleOp.java''': Create code to control the Turret in TeleOp.		*** '''FrcTeleOp.java''': Create code to control the Turret in TeleOp.
	**** In the ''periodic'' method, add code to read the gamepad joystick and set Turret power with the value (setPower and setPidPower)		**** In the ''periodic'' method, add code to read the gamepad joystick and set Turret power with the value (setPower and setPidPower)
	**** In the ''driverControllerButtonEvent'' method, add code to use the DPad to move the Turret left and right of the preset positions		**** In the ''driverControllerButtonEvent'' method, add code to use the DPad to move the Turret left and right of the preset positions
	**** In the ''updateStatus'' method, add code to display the Turret status: power, pos/target, state of limit switches		*** '''Robot.java''': In the ''updateStatus'' method, add code to display the Turret status: power, pos/target, state of limit switches
	*** Calibrate Turret Scale, Offset and Position Limits.		*** Calibrate Turret Scale, Offset and Position Limits.
	*** Tune Turret position PID control.		*** Tune Turret position PID control.
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	*** '''Shooter.java''': Create a new class named ''Shooter''.		*** '''Shooter.java''': Create a new class named ''Shooter''.
	**** Create the parameters for the Shooter: one or two motors, optional pan/tilt motor actuators		**** Create the parameters for the Shooter: one or two motors, optional pan/tilt motor actuators
			***** Set the characteristics of the shooter motor 1
			***** Set the characteristics of the shooter motor 2 if there is one
	**** Create the Shooter using the parameters		**** Create the Shooter using the parameters
	**** Set Shooter scale to real world units in RPM		**** Set Shooter scale to real world units in RPM
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	**** In the ''driverControllerButtonEvent'' method, add code to use the DPad to increment/decrement the Shooter velocities		**** In the ''driverControllerButtonEvent'' method, add code to use the DPad to increment/decrement the Shooter velocities
	**** In the ''periodic'' method, add code to set the shooter velocity with the value set by the DPad		**** In the ''periodic'' method, add code to set the shooter velocity with the value set by the DPad
	**** In the ''updateStatus'' method, add code to display the Shooter motor status: power, vel/target		*** '''Robot.java''': In the ''updateStatus'' method, add code to display the Shooter motor status: power, vel/target
	*** Tune Shooter velocity PID control.		*** Tune Shooter velocity PID control.

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	==== Topics ====		==== Topics ====
			* Introduce Smart Intake Subsystem (one/two motor intake with optional digital/analog sensor).
			** Exercise: Creating and Controlling a one/two motor Intake with digital sensor.
			*** '''Intake.java''': Create a new class named ''Intake''.
			**** Create the parameters for the Intake: one motor with optional follower motor and a digital sensor
			**** Create the Intake using the parameters
			*** '''Robot.java''': Instantiate and initialize the Intake object.
			*** '''FrcTeleOp.java''': Create code to control the Intake in TeleOp.
			**** In the ''driverControllerButtonEvent'' method, add code to press a button to turn AutoIntake ON and release to cancel the operation.
			**** In the ''updateStatus'' method, add code to display the Shooter motor status: power, vel/target
			*** Tune Shooter velocity PID control.
			** Ex
	* Create the Intake class.		* Create the Intake class.
	* Create code to instantiate an Intake subsystem.		* Create code to instantiate an Intake subsystem.

Mikets at 22:44, 6 August 2024

2024-08-06T22:44:46Z

← Older revision		Revision as of 15:44, 6 August 2024
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	== Class Curriculum ==		== Class Curriculum ==

	=== Pre-Work ===		=== Session 0: Pre-Work ===
	Before coming to the programming class, you need to install the required software on your laptop. Please do this at home before coming to class. We do not want to dedicate class time to install software because they are time consuming and require downloading gigabytes of data from the Internet which would overwhelm our Internet bandwidth if all students were downloading at the same time. Therefore, please make sure you finish these tasks at home before coming to class. FRC software installation instructions can be found [https://trc492.github.io/pages/FrcProgrammingSoftwareInstallation.html here].		Before coming to the programming class, you need to install the required software on your laptop. Please do this at home before coming to class. We do not want to dedicate class time to install software because they are time consuming and require downloading gigabytes of data from the Internet which would overwhelm our Internet bandwidth if all students were downloading at the same time. Therefore, please make sure you finish these tasks at home before coming to class. FRC software installation instructions can be found [https://trc492.github.io/pages/FrcProgrammingSoftwareInstallation.html here].
	* Create GitHub account if not already have one.		* Create GitHub account if not already have one.
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	**** Create the parameters for the Elevator with optional preset positions		**** Create the parameters for the Elevator with optional preset positions
	**** Create the Elevator as a Motor Actuator using the parameters		**** Create the Elevator as a Motor Actuator using the parameters
			**** Set Elevator scale and offset to real world unit in inches
	**** Enable software PID control		**** Enable software PID control
	**** Set PID Coefficients and Tolerance		**** Set PID Coefficients and Tolerance
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	**** Create the parameters for the Arm		**** Create the parameters for the Arm
	**** Create the Arm as a Motor Actuator using the parameters		**** Create the Arm as a Motor Actuator using the parameters
			**** Set Arm scale and offset to real world units in degrees
	**** Enable software PID control		**** Enable software PID control
	**** Set PID Coefficients and Tolerance		**** Set PID Coefficients and Tolerance
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	==== Topics ====		==== Topics ====
	* Create the Turret ~~class~~ as a Motor Actuator.		* Introduce Turret Subsystem as a Motor Actuator.
	* ~~Create~~ code to ~~instantiate a~~ Turret ~~subsystem~~.		** Exercise: Creating and Controlling a Turret as a Motor Actuator.
	* Create code to control the ~~turret~~ in TeleOp.		*** '''Turret.java''': Create a new class named ''Turret''.
	* ~~Create~~ code to display the state of ~~the turret on the Dashboard.~~		**** Create the parameters for the Turret
	* ~~Determine the turret rotation scale~~.		**** Create the Turret as a Motor Actuator using the parameters
	* Tune ~~turret~~ position PID control.		**** Enable software PID control
			**** Set Turret scale and offset to real world units in degrees
			**** Set PID Coefficients and Tolerance
			**** Optionally set Stall Protection
			**** Optionally set Turret Preset Positions
			*** '''Robot.java''': Instantiate and initialize the Turret object. Add code to zero calibrate the Turret.
			*** '''FrcTeleOp.java''': Create code to control the Turret in TeleOp.
			**** In the ''periodic'' method, add code to read the gamepad joystick and set Turret power with the value (setPower and setPidPower)
			**** In the ''driverControllerButtonEvent'' method, add code to use the DPad to move the Turret left and right of the preset positions
			**** In the ''updateStatus'' method, add code to display the Turret status: power, pos/target, state of limit switches
			*** Calibrate Turret Scale, Offset and Position Limits.
			*** Tune Turret position PID control.

	==== Hardware ====		==== Hardware ====
	* Turret with rotating base ~~(Old FRC turret stored on the shop shelf?)~~		* Turret with rotating base
	* DC motor with built-in encoder to drive the rotating base		* DC motor with built-in encoder to drive the rotating base
	* Zero position limit switch		* Zero position limit switch
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	* Driver Station with a Gamepad		* Driver Station with a Gamepad

	=== Session 6: Intake Subsystem ===		=== Session 6: Shooter Subsystem ===

			==== Topics ====
			* Introduce Shooter Subsystem (one/two-motor shooter with optional pan/tilt motor actuators).
			** Exercise: Creating and Controlling a Shooter.
			*** '''Shooter.java''': Create a new class named ''Shooter''.
			**** Create the parameters for the Shooter: one or two motors, optional pan/tilt motor actuators
			**** Create the Shooter using the parameters
			**** Set Shooter scale to real world units in RPM
			**** Enable software PID control
			**** Set PID Coefficients and Tolerance
			**** Optionally set Shooter Preset Velocities
			*** '''Robot.java''': Instantiate and initialize the Shooter object.
			*** '''FrcTeleOp.java''': Create code to control the Shooter in TeleOp.
			**** In the ''driverControllerButtonEvent'' method, add code to use the DPad to increment/decrement the Shooter velocities
			**** In the ''periodic'' method, add code to set the shooter velocity with the value set by the DPad
			**** In the ''updateStatus'' method, add code to display the Shooter motor status: power, vel/target
			*** Tune Shooter velocity PID control.

			==== Hardware ====
			* Shooter with two motors
			* DC motor with built-in encoder as the shooter motors
			* Robot-In-A-Box
			* Driver Station with a Gamepad

			=== Session 7: Intake Subsystem ===

	==== Topics ====		==== Topics ====
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	* Driver Station with a Gamepad		* Driver Station with a Gamepad

	=== Session 7: Grabber ~~Subsystem ===~~		=== Session 8: Grabber Subsystem ===
	~~==== Topics ====~~
	~~==== Hardware ====~~

	~~=== Session 8: Shooter~~ Subsystem ===
	==== Topics ====		==== Topics ====
	==== Hardware ====		==== Hardware ====

Mikets at 18:06, 28 July 2024

2024-07-28T18:06:16Z

← Older revision		Revision as of 11:06, 28 July 2024
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	*** '''RobotParams.java''': Add a switch for the Simple Motor in Preferences.		*** '''RobotParams.java''': Add a switch for the Simple Motor in Preferences.
	*** '''Robot.java''': Instantiate and initialize a Simple Motor in the ''robotInit'' method.		*** '''Robot.java''': Instantiate and initialize a Simple Motor in the ''robotInit'' method.
	**** Create FrcCANTalonSRX		**** Create ''FrcCANTalonSRX''
	**** Reset to factory default		**** Reset to factory default
	**** Enable Voltage Compensation		**** Enable Voltage Compensation
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	*** '''RobotParams.java''': Add a switch for the Simple Servo in Preferences.		*** '''RobotParams.java''': Add a switch for the Simple Servo in Preferences.
	*** '''Robot.java''': Instantiate and initialize a Simple Servo in the ''robotInit'' method.		*** '''Robot.java''': Instantiate and initialize a Simple Servo in the ''robotInit'' method.
	**** Create FrcServo		**** Create ''FrcServo''
	**** Set Logical Range		**** Set Logical Range
	**** Set Physical Range		**** Set Physical Range
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	==== Topics ====		==== Topics ====
	* Introduce to PID Control.		* Introduce to '''PID Control'''.
	* Introduce to the Motor Actuator class.		* Introduce to the '''Motor Actuator''' class.
	** Motor Actuator Parameters:		** Motor Actuator Parameters:
	*** setMotorInverted		*** setMotorInverted

Mikets: /* Session 2: Simple Servo */

2024-07-28T18:03:58Z

Session 2: Simple Servo

← Older revision		Revision as of 11:03, 28 July 2024
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	==== Topics ====		==== Topics ====
	* Introduce to Simple Servo.		* Introduce to '''Simple Servo'''.
	** Exercise: Creating and Controlling a Simple Servo.		** Exercise: Creating and Controlling a Simple Servo.
	*** '''RobotParams.java''': Add a switch for the Simple Servo in Preferences.		*** '''RobotParams.java''': Add a switch for the Simple Servo in Preferences.

Mikets: /* Session 1: Simple Motor */

2024-07-28T18:03:31Z

Session 1: Simple Motor

← Older revision		Revision as of 11:03, 28 July 2024
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	==== Topics ====		==== Topics ====
	* '''~~Introduce to~~ Visual Studio Code'''.		* Introduce to '''Visual Studio Code'''.
	** Start Visual Studio Code.		** Start Visual Studio Code.
	** Open FrcTemplate project in Visual Studio Code.		** Open FrcTemplate project in Visual Studio Code.
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	**** '''Commit''': Commit changes to your local repository		**** '''Commit''': Commit changes to your local repository
	**** '''Push''': Push changes from your local repository to GitHub		**** '''Push''': Push changes from your local repository to GitHub
	* Introduce to Simple Motor.		* Introduce to '''Simple Motor'''.
	** Exercise: Creating and Controlling a Simple Motor.		** Exercise: Creating and Controlling a Simple Motor.
	*** '''RobotParams.java''': Add a switch for the Simple Motor in Preferences.		*** '''RobotParams.java''': Add a switch for the Simple Motor in Preferences.