[CRUSH-build] Software build issues and tasks

[Christopher H Hanson]

Topics of discussion on 1/12/2006

Drive Control

Steering

      1 joystick has the advantage of straight lines

      2 joysticks have the advantage of fine tuning movement

      We should be able to implement either/both and let the drivers decide
      which is best.

Limits and Controls

      Speed Limit - If we find that the robot is uncontrollable at high
      speeds, we could implement a maximum speed limit.

      Turbo Button – If we use a speed limit, we could program a control
      (button, trigger, etc.) to override the limit.

      Acceleration Control – If we find the robot spins its wheels, we
      could implement code to gradually increase the speed to prevent
      burnouts.

      Vector Control – If we find that the robot tips while turning at high
      speeds, we could implement code to decrease the speed of the robot
      during turns.


System Controls

Shooter – control to turn the spinning wheel(s) on or off

      Shooter Power Saver – run spinning wheel at low speed, until trigger
      to fire is pulled, then increase to full speed for a set period of
      time. Then return to power saver mode.

      Collector – control to turn the collector on or off.

      Collector Power Saver – same as Shooter power saver.

      Hopper Door – control to open and close Hopper door.

Sensor Controls

Camera
      Detect green light

      Move toward green light

      Detect distance and angle of green light

      Shoot Go-No Go – use camera to detect if shot is within range and
      angle and inform driver/gunner

Gyro
      Calibrate at Start

      Detect angle from start

      Detect Tip-Over

Optical or Hall Effect counter

      Calculate Distance traveled


Autonomous

      Dynamic Autonomous Code Selection

      Auto Shoot from each starting position

      Auto Dump from each starting position

      Auto Defend a location

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Tasks:
Programming Environment
1)    Update MPLAB (if using) to version 3.0
2)    Update IFI Loader
3)    Create New Project in IDE (MPLAB or Eclipse)

Drive Control
1)    Code drive for single joystick (simple)
2)    Code drive for dual joysticks (simple)

Camera and Detection
1)    Input Default Camera code into project
2)    Build Camera and Mount
3)    Mount camera to Fwipper
4)    Build Green Light
5)    Test camera’s calibration to Green Light
6)    Test camera’s detection range

Autonomous Movement
1)    work on scripting autonomous navigation