FTC2016-2017: VelocityVortex - Revision history

Mikets at 01:37, 27 April 2024

2024-04-27T01:37:38Z

← Older revision		Revision as of 18:37, 26 April 2024
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	== Season Videos ==		== Season Videos ==
			=== 40-point Auto ===
			<youtube>Yo7T7v7kXpI</youtube>

			<youtube>DPtbIn8qW38</youtube>
			=== 95-point Auto ===
			<youtube>-9LWxR1bp8Q</youtube>
			=== 100-point Auto ===
			<youtube>QHcIzLSJXnw</youtube>
			=== 115-point Auto ===
			<youtube>vueKVsViyXY</youtube>
			=== 120-point Auto ===
			<youtube>nUZx6yI9eu8</youtube>

Mikets: Replaced content with "== Game Resources == * Game Manual * [https://github.com/trc492/Ftc2017VelocityVortex Code Repository] * Media:Ftc2016-2017ControlAward.pdf == Season Videos =="

2024-04-26T20:31:37Z

Replaced content with "== Game Resources == * Game Manual * [https://github.com/trc492/Ftc2017VelocityVortex Code Repository] * Media:Ftc2016-2017ControlAward.pdf == Season Videos =="

Show changes

Mikets at 02:59, 26 April 2024

2024-04-26T02:59:13Z

← Older revision		Revision as of 19:59, 25 April 2024
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	== Game ~~Manual~~ ==		== Game Resources ==
	~~<pdf>File~~:Ftc2016-2017GameManual.pdf~~</pdf>~~		* [[Media:Ftc2016-2017GameManual.pdf\|Game Manual]]
			* [https://github.com/trc492/Ftc2017VelocityVortex Code Repository]
	== Game ~~Code ==~~
	[https://github.com/trc492/Ftc2017VelocityVortex Code Repository]

	== Control Award ==		== Control Award ==

Mikets at 10:16, 25 April 2024

2024-04-25T10:16:32Z

← Older revision		Revision as of 03:16, 25 April 2024
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	<pdf>File:Ftc2016-2017GameManual.pdf</pdf>		<pdf>File:Ftc2016-2017GameManual.pdf</pdf>

	== Code ~~Repository~~ ==		== Game Code ==
	[https://github.com/trc492/Ftc2017VelocityVortex Code Repository]		[https://github.com/trc492/Ftc2017VelocityVortex Code Repository]

Mikets at 10:10, 25 April 2024

2024-04-25T10:10:06Z

← Older revision		Revision as of 03:10, 25 April 2024
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	== Game Manual ==		== Game Manual ==
	<pdf>File:Ftc2016-2017GameManual.pdf</pdf>		<pdf>File:Ftc2016-2017GameManual.pdf</pdf>

			== Code Repository ==
			[https://github.com/trc492/Ftc2017VelocityVortex Code Repository]

	== Control Award ==		== Control Award ==

Mikets at 08:57, 25 April 2024

2024-04-25T08:57:46Z

← Older revision		Revision as of 01:57, 25 April 2024
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	== Game Manual ==		== Game Manual ==
	<pdf>File:~~Frc2016~~-2017GameManual.pdf</pdf>		<pdf>File:Ftc2016-2017GameManual.pdf</pdf>

	== Control Award ==		== Control Award ==

Mikets at 08:50, 25 April 2024

2024-04-25T08:50:19Z

← Older revision		Revision as of 01:50, 25 April 2024
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			== Game Manual ==
			<pdf>File:Frc2016-2017GameManual.pdf</pdf>

	== Control Award ==		== Control Award ==

Mikets at 06:27, 20 April 2024

2024-04-20T06:27:41Z

← Older revision		Revision as of 23:27, 19 April 2024
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	# If park on the corner vortex, turn right so the back is facing the corner vortex. If park on the center vortex turn right so the front is facing the center vortex.		# If park on the corner vortex, turn right so the back is facing the corner vortex. If park on the center vortex turn right so the front is facing the center vortex.
	# If park on the corner vortex, move backward onto the corner vortex. If park on the center vortex, move forward onto the center vortex.		# If park on the corner vortex, move backward onto the corner vortex. If park on the center vortex, move forward onto the center vortex.

	==== Auto 40 Far Defense ====		==== Auto 40 Far Defense ====
	[[File:FTC2016-2017_Auto40FarDefense.png]]		[[File:FTC2016-2017_Auto40FarDefense.png]]

Mikets at 06:26, 20 April 2024

2024-04-20T06:26:04Z

Mikets at 02:43, 20 April 2024

2024-04-20T02:43:53Z

← Older revision		Revision as of 19:43, 19 April 2024
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	== Control Award ==		== Control Award ==

	=== Autonomous objectives ===		=== Autonomous objectives ===
	Our objectives are flexibility, fault tolerance and accuracy. We achieved flexibility and fault tolerance by providing hundreds of autonomous variations. We are using a set of menus that prompt the driver for different choices. For example, the driver can choose what color alliance we are in (2 variations: red, blue), whether we should delay starting our autonomous so we don’t bump into the robot of our alliance partner, how many particles we are shooting (3 variations: 0, 1, 2), where we should park the robot at the end of autonomous (3 variations: stay, center or corner vortex), how many beacon buttons we are pushing (3 variations: 0, 1, 2) etc. All these choices became parameters feeding into 8 strategies. The total combinations are approximately 2x2x2x3x3x3 + 2x2x2x3x3 + 2x2x3x2 + 2 + 2 + 1 = 317. Detail description with diagrams of each strategy can be found in a later section. The 8 autonomous strategies are listed below. Not only do they provide flexibility that accommodates any of our alliance partners, they also provide fault tolerance so that even if part of our robot is malfunctioning, we will have an autonomous that will still work.		Our objectives are flexibility, fault tolerance and accuracy. We achieved flexibility and fault tolerance by providing hundreds of autonomous variations. We are using a set of menus that prompt the driver for different choices. For example, the driver can choose what color alliance we are in (2 variations: red, blue), whether we should delay starting our autonomous so we don’t bump into the robot of our alliance partner, how many particles we are shooting (3 variations: 0, 1, 2), where we should park the robot at the end of autonomous (3 variations: stay, center or corner vortex), how many beacon buttons we are pushing (3 variations: 0, 1, 2) etc. All these choices became parameters feeding into 8 strategies. The total combinations are approximately 2x2x2x3x3x3 + 2x2x2x3x3 + 2x2x3x2 + 2 + 2 + 1 = 317. Detail description with diagrams of each strategy can be found in a later section. The 8 autonomous strategies are listed below. Not only do they provide flexibility that accommodates any of our alliance partners, they also provide fault tolerance so that even if part of our robot is malfunctioning, we will have an autonomous that will still work.
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	* Range Drive Test: This test runs the robot towards the wall for the selected stopping distance. It is primarily used for calibrating the PID constants for the Range PID controller. One can adjust the PID constants to make the robot go as close to the target wall distance as possible without oscillation and within tolerance.		* Range Drive Test: This test runs the robot towards the wall for the selected stopping distance. It is primarily used for calibrating the PID constants for the Range PID controller. One can adjust the PID constants to make the robot go as close to the target wall distance as possible without oscillation and within tolerance.
	All these features are supported by our library and is available on GitHub as part of our Open Source Software. (https://github.com/trc492/Ftc2017VelocityVortex)		All these features are supported by our library and is available on GitHub as part of our Open Source Software. (https://github.com/trc492/Ftc2017VelocityVortex)

			[[File:FTC2016-2017_AutonomousChoiceMenus.png]]

	=== Engineering notebook references ===		=== Engineering notebook references ===
	Feature Notebook Pages		{\| class="wikitable" style="margin-left: 0px;"
	Autonomous Strategies 147-155		\|+ Page References
	Sensors 130-136		\|-
	PID Control 145		! style="text-align:left;"\| Feature\|\|Notebook Pages
	Choice Menu System 146		\|-
	Test OpMode 143		\| Autonomous Strategies \|\| 147-155
			\|-
			\| Sensors \|\| 130-136
			\|-
			\| PID Control \|\| 145
			\|-
			\| Choice Menu System \|\| 146
			\|-
			\| Test OpMode \|\| 143
			\|}

	Autonomous program diagrams:		=== Autonomous program diagrams ===
	The following autonomous diagrams show our robot on the red alliance. When we are on the blue alliance, our robot’s paths and functions are mirrored.		The following autonomous diagrams show our robot on the red alliance. When we are on the blue alliance, our robot’s paths and functions are mirrored.
	Auto 100 Path 1:
			==== Auto 100 Path 1 ====
			[[File:FTC2016-2017_Auto100Path1.png]]
	# Shoot the selected number of particles.		# Shoot the selected number of particles.
	# Delay the selected number of seconds if necessary.		# Delay the selected number of seconds if necessary.
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	# Move forward to park on the center vortex or backward to park on the corner vortex.		# Move forward to park on the center vortex or backward to park on the corner vortex.

	Auto 100 Path 2:		==== Auto 100 Path 2 ====
			[[File:FTC2016-2017_Auto100Path2.png]]
	# Shoot the selected number of particles.		# Shoot the selected number of particles.
	# Delay the selected number of seconds if necessary.		# Delay the selected number of seconds if necessary.
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	# Move forward to park on the center vortex or backward to park on the corner vortex.		# Move forward to park on the center vortex or backward to park on the corner vortex.

	Auto 40 Near:		==== Auto 40 Near ====
			[[File:FTC2016-2017_Auto40Near.png]]
	# Shoot the selected number of particles.		# Shoot the selected number of particles.
	# Delay the selected number of seconds if necessary.		# Delay the selected number of seconds if necessary.
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	# If park on the corner vortex, move backward onto the corner vortex. If park on the center vortex, move forward onto the center vortex.		# If park on the corner vortex, move backward onto the corner vortex. If park on the center vortex, move forward onto the center vortex.

	Auto 40 Far:		==== Auto 40 Far ====
			[[File:FTC2016-2017_Auto40Far.png]]
	# Move forward slightly towards the center.		# Move forward slightly towards the center.
	# Turn left to aim at the center vortex.		# Turn left to aim at the center vortex.
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	# If park on the corner vortex, move backward onto the corner vortex. If park on the center vortex, move forward onto the center vortex.		# If park on the corner vortex, move backward onto the corner vortex. If park on the center vortex, move forward onto the center vortex.

	Auto 40 Far Defense:		==== Auto 40 Far Defense ====
			[[File:FTC2016-2017_Auto40FarDefense.png]]
	# Move forward slightly towards the center.		# Move forward slightly towards the center.
	# Turn left to aim at the center vortex.		# Turn left to aim at the center vortex.

← Older revision		Revision as of 23:26, 19 April 2024
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	# '''Distance Drive''' – Drive the robot for a specified distance. This is a general-purpose strategy. Again, if our robot is malfunctioning, as long as drive base encoders are still working, we can place the robot and aim at a target (e.g. Cap Ball and center vortex) and just run it. We can also use it as a defense strategy, delaying the autonomous for 10 seconds and run across to the opponent side blocking their autonomous.		# '''Distance Drive''' – Drive the robot for a specified distance. This is a general-purpose strategy. Again, if our robot is malfunctioning, as long as drive base encoders are still working, we can place the robot and aim at a target (e.g. Cap Ball and center vortex) and just run it. We can also use it as a defense strategy, delaying the autonomous for 10 seconds and run across to the opponent side blocking their autonomous.
	# '''Timed Drive''' – Drive the robot for a specified amount of time with specified power. This is also a general-purpose strategy. Again, if our robot is malfunctioning, as long as the drive base motors still run (doesn’t even need encoders), we can place the robot and aim at a target (e.g. Cap Ball and center vortex) and just run it.		# '''Timed Drive''' – Drive the robot for a specified amount of time with specified power. This is also a general-purpose strategy. Again, if our robot is malfunctioning, as long as the drive base motors still run (doesn’t even need encoders), we can place the robot and aim at a target (e.g. Cap Ball and center vortex) and just run it.

	Here is a link to a video showing one of our earlier versions of the 100-point autonomous strategies:		Here is a link to a video showing one of our earlier versions of the 100-point autonomous strategies:
	https://www.youtube.com/watch?v=QHcIzLSJXnw		https://www.youtube.com/watch?v=QHcIzLSJXnw
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	=== Sensors used ===		=== Sensors used ===
	One of our objectives is to make our autonomous very accurate. We achieved this by using different sensors.		One of our objectives is to make our autonomous very accurate. We achieved this by using different sensors.

	* '''Motor encoders:''' Our robot uses encoders on the mecanum drive base as well as the particle accelerator (shooter). On the drive base, we use them to measure the distance traveled by the robot in both X and Y directions. On the particle accelerator, it measures the position of the shooter mechanism.		* '''Motor encoders:''' Our robot uses encoders on the mecanum drive base as well as the particle accelerator (shooter). On the drive base, we use them to measure the distance traveled by the robot in both X and Y directions. On the particle accelerator, it measures the position of the shooter mechanism.
	* '''Touch sensor:''' Although we have an encoder on the particle shooter motor to tell us how much it has turned, it does not tell us the absolute position of the shooter and when it has fired. The touch sensor activated by a cam on the sprocket axle will tell us that.		* '''Touch sensor:''' Although we have an encoder on the particle shooter motor to tell us how much it has turned, it does not tell us the absolute position of the shooter and when it has fired. The touch sensor activated by a cam on the sprocket axle will tell us that.
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	* Range Drive Test: This test runs the robot towards the wall for the selected stopping distance. It is primarily used for calibrating the PID constants for the Range PID controller. One can adjust the PID constants to make the robot go as close to the target wall distance as possible without oscillation and within tolerance.		* Range Drive Test: This test runs the robot towards the wall for the selected stopping distance. It is primarily used for calibrating the PID constants for the Range PID controller. One can adjust the PID constants to make the robot go as close to the target wall distance as possible without oscillation and within tolerance.
	All these features are supported by our library and is available on GitHub as part of our Open Source Software. (https://github.com/trc492/Ftc2017VelocityVortex)		All these features are supported by our library and is available on GitHub as part of our Open Source Software. (https://github.com/trc492/Ftc2017VelocityVortex)

	[[File:FTC2016-2017_AutonomousChoiceMenus.png]]		[[File:FTC2016-2017_AutonomousChoiceMenus.png]]