Your programming skills is insane, I am from Mexico, and I have some questions for you guys, I made a different functions for motion of the robot, the robot chassis is a hexagonal, I made an odometry tracking system with a PID controller, one PID is for the lineal motion, a the other is for turns, so finally I have one function with three parameters(final coordinate in x, final coordinate in y, the angle for the turn), do you think that’s a good idea ?
We use a few different algorithms to control our robot. Firstly we use odometry to track our robots absolute position on the field. Then we have a path generator that creates an array of x and y coordinates for the robot to follow. Then we use an algorithm called pure pursuit to calcualate the voltage to send to the motors in order to get back on the path.
If you lock one set of your wheels, you'll be able to follow the path with a lot less drifting and thus more efficiently. Doesn't really matter with pure pursuit but still an optimization nonetheless
@@6047OSSemicolon Can you please provide links for what you refer on encoder wheels and the other sensors? Im trying to do a good autonomous for my robot and I want to learn about those sensors.
@@Andres_Otero thepilons.ca/wp-content/uploads/2018/10/Tracking.pdf this is a paper explaining how we use the unpowered wheels to track our position. If you are new and trying to make a good autonomous I suggest using a PID loop for turning and driving. Make sure you tune it using proper methodology which you can find online. We have developed our code over the past 2 seasons though it is certainly possible to make it this year.
Your programming skills is insane, I am from Mexico, and I have some questions for you guys, I made a different functions for motion of the robot, the robot chassis is a hexagonal, I made an odometry tracking system with a PID controller, one PID is for the lineal motion, a the other is for turns, so finally I have one function with three parameters(final coordinate in x, final coordinate in y, the angle for the turn), do you think that’s a good idea ?
I think that you have diferent task functions while the odometry main function is running?, this is correct ?
Yes that will work. We used a similar method last season.
Yes we currently are using tasks to run odometry and our path follower, though if you can using a single control loop is more efficient.
Insanely impressive. The algorithms you used for this is just mind blowing. You're making it to worlds for sure
Make better content
amazing. what programming do you use? what methods you use to precisely control motion? Thank. Do you mind sharing code?
We use a few different algorithms to control our robot. Firstly we use odometry to track our robots absolute position on the field. Then we have a path generator that creates an array of x and y coordinates for the robot to follow. Then we use an algorithm called pure pursuit to calcualate the voltage to send to the motors in order to get back on the path.
We wont be sharing our code though even if we did I dont think it would be useful.
Thanks for the directions. I will let our programmer learn. It is very helpful to know the topics we need to learn. Do you use Vex code or Pros?
@@hongyunhuchen we use pros though vex code can also work
@@6047OSSemicolon what sensor do you have to use to be able to use odometry?
Watched you at indy paired with our R team good looks
What kind of spline function do you guys use for pure pursuit? Would u guys be ok sharing the math/theory behind it?
look up dawgma pure pursuit and the paper does a pretty good job explaining it.
When do you guys reset your odom? Running something very similar with pure pursuit
We dont reset our odometry
@@6047OSSemicolon oh interesting, thanks for letting me know! Definitely going to try that haha, should make correcting much better
Are your tracker wheels on the inside of ur base? and do you think its worth adding an horizontal tracker wheel in addition to the 2 vertical ones?
I might not be them but we found it to be much more reliable and accurate to use a horizontal wheel.
We have 2 trackers 1 horizontal and one parallel to the wheels
amazing
Hi! love the programming, how long did it take you to make?
How did u make the mogo mech in the back tilt at an angle? Did u use motors on that?
No it uses 2 pistons
@@6047OSSemicolon ah I see
How did u guys learn pure pursuit? Will there be any documentations?
frc team dawgma robotics made a very detailed paper on how pure pursuit works and how to create it.
rip ring mech
Would you be willing to share your drivetrain rpm output?
This robot ran at 300 rpm using sprocket ratios. We have since changed to 280 Rpm using gears.
If you lock one set of your wheels, you'll be able to follow the path with a lot less drifting and thus more efficiently. Doesn't really matter with pure pursuit but still an optimization nonetheless
Would u be willing to share your motor distribution? Seems like it’s a 6 motor drive?
Yeah 6 motor drive, 1 motor intake, 1 motor 4 bar
Ok.
what kind of sensors are u using?
We use 2 unpowered encoder wheels, a limit switch on the clamp, and an inertial sensor.
@@6047OSSemicolon Can you please provide links for what you refer on encoder wheels and the other sensors? Im trying to do a good autonomous for my robot and I want to learn about those sensors.
@@Andres_Otero thepilons.ca/wp-content/uploads/2018/10/Tracking.pdf this is a paper explaining how we use the unpowered wheels to track our position. If you are new and trying to make a good autonomous I suggest using a PID loop for turning and driving. Make sure you tune it using proper methodology which you can find online. We have developed our code over the past 2 seasons though it is certainly possible to make it this year.
does it work everytime
This program was very inconsistent. Though we have rebuilt and redone the route since then
wait a minute this isnt 315
😮
Might be more or less didnt really count the rings. Also we are aware it is overtime and will post a new video with our new robot when it is done.
@@6047OSSemicolon lol you didnt get the joke
@@bucketfullabiscuits7865 lmao 315Y is watching
Your ring system works quite well. How long did it take you to build?
~21417 (Robokauz Robotics)
At least it worked very well in the Park Tudor Speedway competition.
what am i looking at man
he's
First