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Author Topic: Programming Engineering Notebook 2008  (Read 12645 times)

Kims Robot

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Programming Engineering Notebook 2008
« on: November 28, 2007, 10:50:47 PM »

Programming, please post your daily Engineering Notebook submissions here.
« Last Edit: January 02, 2009, 11:26:28 PM by Kims Robot »
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Systems Engineer - Draper Laboratory

Steve Jobs: The heaviness of being successful was replaced by the lightness of being a beginner again, less sure about everything. It freed me to enter one of the most creative periods of my life.

Rajeev

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Re: Programming Engineering Notebook
« Reply #1 on: January 09, 2008, 06:46:15 PM »

1/8/08

Members present:  Rajeev, Eric, Jeff, Mike, Shauna, Becca, Jim, Cristian
Start time: 18:00
End Time: 21:30

Tasks completed:
- New SVN repository set up and members added
- Default code checked in to SVN
- Newer members began to familiarize selves with previous year's code
- Camera work begun
- Gyro code examined

Tasks to complete:
- Continue to pore over last year's code
- Continue camera work
- Test out default gryo code, evaluate usability
« Last Edit: January 14, 2008, 11:36:13 PM by angry_eric »
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jimcaesar

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Re: Programming Engineering Notebook
« Reply #2 on: January 09, 2008, 07:45:27 PM »

I test the visual camera for usefulness in the competition, in my option that camera can notice the colors of the trackballs but can't notice the differences between the trackball and colors of the tapes and marks found in the game field, it could work but the game has full of colors that made the camera useless not mention the differences in lighting environment found at different regionals
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Rajeev

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Re: Programming Engineering Notebook
« Reply #3 on: January 10, 2008, 12:38:32 PM »

1/9/08

Start time: 18:00
End time: 21:00

MEMBERS IN ATTENDANCE: RAJEEV, ERIC, JEFF, JIM, SHAUNA, BECCA

Tasks completed:
- Gryo wired up, Kevin.org code tested, integration into last year's code begun
- Continued to work on camera
- Continued to look through last year's autonomous

Tasks to complete:
- Finish integration of gryo code, possibly begin correctional code
- Continue camera work
- Continue to look through last year's code
« Last Edit: January 14, 2008, 11:43:45 PM by angry_eric »
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Rajeev

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Re: Programming Engineering Notebook
« Reply #4 on: January 11, 2008, 05:32:09 PM »

1/10/08

Start time: 18:00
End time: 21:00

MEMBERS IN ATTENDANCE: ERIC, RAJEEV, JIM, SHAUNA, MIKE

Tasks completed:
- Pieces of last year's code cleaned out, integrated into trunk
- Gyro code integrated
- Software installed on laptop
- Looked through defensive autonomous from last year as well as Kevin.org gyro code

Tasks to complete:
- Continue to look through old code
- Continue camera work
- Work with electrical subteam on gyro mounting
- Work on driving straight and turning using the gyro - PID?
« Last Edit: January 14, 2008, 11:43:36 PM by angry_eric »
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jimcaesar

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Need Help and thoughts on camera problem
« Reply #5 on: January 12, 2008, 07:25:22 PM »

I research a way to run around the field on full speed and avoid other robots by using a radial new CMUCAM 3 that can overwrite the firmware with Polly algorithm, as explains at http://cmucam.org/wiki/polly, basic it process a picture like this on left column and it found edge by examining contact and compare it surrounding a pixel by pixels then return a histogram look like on right and streaming this histogram to RC by real-time. It could gives you a picture of a safe zone to drive toward to but my question is how interpret that histogram that polly algorithm would return from the camera real-time to tell where to go left?! or Right?!? or forward? I needed a fresh perceive on this one I thinks about using IF and else statements that examining the histogram by count white area on left and white area on right to see if one side has severalty shortage of safe area to drive. any thoughts?


P.S. more materials reference http://www.roborealm.com/tutorial/line_following/slide070.php, http://en.wikipedia.org/wiki/Computer_vision, http://en.wikipedia.org/wiki/Edge_detection, or http://cmucam.org/
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Rajeev

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Re: Programming Engineering Notebook
« Reply #6 on: January 13, 2008, 04:08:24 PM »

1/12/08

Start time: varied
End time: varied
Members present:  Rajeev, Jim, Shauna, Mike, Eric, Jeff

Tasks completed:
1. Gyro work continued
2. Basic code given to electrical to run pneumatics demo board
3. Camera work continued
4. Autonomous mode (non-PID) tested

Tasks to complete:
1. Get gyro "drive in a straight line" code working
2. Continue camera work
3. Determine IR board commands
4. Continue autonomous work
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angry_eric

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Re: Programming Engineering Notebook
« Reply #7 on: January 14, 2008, 11:27:07 AM »

1.13.2008
Start time: 10:00
End time: 20:00
Members present: Eric, Jeff, Shauna, Cristian, Mike

Tasks completed:
1.) Gyro code to drive in a straight line, turn arbitrary # degrees in place
2.) Code to execute multiple autonomous movements one after the other
3.) Defined OI pinout for LEDs and switch inputs
4.) Wired up 2 DB-15s for use with OI LEDs/switches
5.) Got IR board output reading function written

Tasks to complete:
1.) Write gyro-based code for turning 180 at the end of the field - 3 different "cases" based on starting position - partially complete as we had a gradual 45 deg. turn working on 1.13 evening
2.) Write encoder-based code for driving to the underpass in 'poking' position - partially complete based on Shauna's code, but needs to be integrated with gyro-based 'drive straight' code
3.) Work with mech. team to understand how we need to control arm to keep us in the 80" cylinder.  Ugh not again.
4.) Determine 'Robocoach' commands based on the autonomous modes listed in http://penfieldrobotics.com/forum/index.php?topic=1732 and the current capabilities of our robot
5.) Meet Tuesday night right after dinner and review our tasklist/plan for the rest of the season

Ordered samples of http://www.richco-inc.com/pdf/QM.pdf for vibration isolation standoffs for our gyro.
« Last Edit: January 14, 2008, 01:13:35 PM by angry_eric »
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angry_eric

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Re: Programming Engineering Notebook
« Reply #8 on: January 15, 2008, 03:47:34 PM »

Here is the Programming Team's MASTER TASK LIST as of 1.22.2008.  All day names refer to this week (Sun will be 1.27)

Gyro
0.)  Try out the effect of adding "D" to the PI-based gyro code - can be a sidetask -Jeff or Eric - Thu hopefully
2.)  Integrate gyro "drive straight" with PID-based "drive a distance" - by EOD Sunday
1.)  Build statements for gyro-based "turn 180" for the 3 circumference cases - by EOD Wed. - Becca and Shauna done!
3.)  Make a Drive_Angle(angle) function, and a Turn_180(lane#) function - by EOD Saturday - Becca and Shauna - needs re-testing!-done and stable for this years drivetrain

2.)  If there is time, work out the math for gyro-based "fix getting bumped while driving straight" - should essentially add/subtract distance to the PID-based "drive a distance" code - no timeframe yet, not crucial but want to keep it as a good idea

3.)  "Changing Lanes" code - we're in lane 1, need to go to lane 2 or 3 - EOD Saturday
4.)  Autonomous mode 1 - drive till we're under the overpass, knock the ball down, drive forward, turn 180 arc, drive till we're under the other overpass, knock the ball down, drive forward, turn 180 arc....keep repeating. - by EOD Saturday - Becca and Shauna
5.)  Autonomous mode 2 - Drive straight, turn left, drive straight turn left - done but without Robocoach command 'overrides'


IR
0.)  Wire IR board to last year's robot - Tuesday night if board is back- IR board blown up, repairs underway Wed. AM
1.)  Based on hybrid modes post from Sunday, determine 4 good IR commands - Tue - done Rajeev/Shauna
2.)  Determine reliable IR angles (az and el) and distance - Tue, Wed at latest - IR board blown up, repairs underway Wed. AM
4.)  Determine if a single servo motor (like the old camera. servo) can rotate board, and include that in electrical's model - start Tue. night
6.)  Find out Eric Averill's MAGIC REMOTE OF DOOM status - Tue - started work on the programming aspect
1.)  Work with electrical team to get IR board modeled and in a good location for visibility - in progress, Jeevs did some calcs for location
2.)  Some sort of lamp indicating to robocoach that their command was accepted would be cool

Mech
0.)  Confirm Spike relay is all that is needed for arm up/down control (fwd/rev = up/down)
1.0)  Confirm "wrist" control will be motor based
   1.1) confirm max rotation
   1.2) Determine POT to use
   1.3) Work out a FLEXIBLE COUPLING scheme between joint rotation and Pot (crucial) - Mike Wolf
2.)  Confirm spike relay for gripper open/close
3.)  Confirm we need the stupid "keep us in the box code" - work out with Mech. what those angles will be so we know how many "zones" are needed to be programmed. - Tue, Wed at latest

4.)  Pot pickout - Jeevs

Drivetrain
1.)  Determine left vs. right drive mismatch - both forward and backward - in terms of pwm units - Wed
3.)  Test our hybrid gyro/encoder code we wrote so far with our new drivetrain! - Wed, Thu at latest
0.)  Get Encoder phases aligned so we can actually sense direction this year - Add this into encoder.h/encoder.c and test - Jeevs Wed Night!
1.)  Determine effective motor "deadzone" - left and right, forward and backward - Once Robot is 'done'

Controls

0.)  Get the partslist of things we don't have yet for the box together - CRISTIAN FIRST THING TUESDAY YOU FORGOT TO DO IT BEFORE LEAVING ON SUNDAY - done
1.)  Update RC.xls for our current # of motors and sensors - Wed
2.)  Update iomap.h for our current controls scheme - buttons, joysticks, etc named correctly - Tue/Wed
3.)  Work out what the controls team vs. programming will be doing in terms of wiring/buying parts - Tue at integration - done

6.)  Feedback to OI - when debug switch is on, switches/buttons/LEDs do new functionality EOD Thu
7.)  Cleanup Analog2Digital function - EOD Wed
4.)  Arm/Gripper/Wrist controls - from joystick or buttons to pwm or spike outputs - EOD Saturday
5.)  Drivetrain LUT - adjust based on driver feedback - once robot is together
« Last Edit: January 24, 2008, 09:59:17 PM by angry_eric »
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Rajeev

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Re: Programming Engineering Notebook
« Reply #9 on: January 16, 2008, 06:43:46 PM »

1/15/08
Start time: 6:00
End time: wee hours of the night
Members present:  Rajeev, Jim, Shauna, Jeff, Eric

Tasks completed:
1.  IR command list determined
2.  IR board blown up
3.  Encoders glued, aligned, and tested

Tasks to complete:
1.  Repair wounded IR board
2.  Test new drivetrain if completely ready
3.  Determine IR receiving angles
4.  Continue gyro work
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Rajeev

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Re: Programming Engineering Notebook
« Reply #10 on: January 17, 2008, 03:47:23 PM »

1/16/08
Start time:  18:00
End time:  21:00
Members present:  Rajeev, Jim, Shauna, Becca, Mike, Eric, Jeff

Tasks completed:
1.  Repaired and tested IR board
2.  Preliminary data on IR board reception taken

Tasks to complete:
1.  Get some conclusive IR reception data
2.  Work some more on gyro code
3.  Test out new drivetrain
4.  Collaborate with E.C. team for controls
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Rajeev

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Re: Programming Engineering Notebook
« Reply #11 on: January 18, 2008, 11:52:51 PM »

1/17/08

Start time: 18:00
End time:  21:00

Members: Eric, Jeff, Becca, Mike, Jim, Rajeev

Tasks completed:
1.  Looked through original Kevin.org encoder code to remember nature of 2-phase system
2.  Updated iomap.h and user_routines_fast to actually read values to analog inputs (uses Kevin.org ADC code - see checkin)
3.  Refined gyro turn code - turn 90 degrees using PID

Tasks to complete:
1.  Test out drivetrain when available, possibly with 2-phase code as well as current single phase system
2.  Attempt to use D component of PID (is it needed/helpful?)
3.  Continue camera work
4.  Collaborate with Eric. A. on remote
« Last Edit: January 22, 2008, 06:56:13 PM by angry_eric »
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Mike92

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Re: Programming Engineering Notebook
« Reply #12 on: January 20, 2008, 04:47:48 PM »

i worked on the same program as last week and Jim helped me alot. Ask Jim if you have any questions about what we put in today.
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angry_eric

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Re: Programming Engineering Notebook
« Reply #13 on: January 23, 2008, 05:24:10 PM »

1.22.2008
Members: Eric Jeff Jim Becca Shauna Rick

Start time: 18.00
End time: 00.30 (ugh)

Tasks completed:
1.)  Picked out/bought Pot for wrist movement
2.)  Made a Drive_Angle and Turn_180 function for use in hybrid modes
3.)  Most of the drivetrain WIRED!!!!!

Tasks to complete:
1.)  Build our first autonomous mode (see master task list)
2.)  Test encoder directionality (phase B)
3.)  Continue CAMERA WORK
4.)  Cleanup A2D function,
5.)  Arm/Wrist/Gripper basic controls
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Rajeev

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Re: Programming Engineering Notebook
« Reply #14 on: January 24, 2008, 02:58:23 PM »

1/23/08

Start time: 1800
End time:  2200

Members: Rajeev, Shauna, Becca, Mike, Eric, Jeff, Rick

Tasks completed:
1.  Second phase added to encoder code and checked in
2.  Cleaned up chicklet decoding function
3.  Discussed hybird mode with strategy subteam
4.  Tested new pneumatic components
5.  Played around with PID tuning

Tasks to complete:
1.  Finalize hybrid modes with strategy
2.  Basic controls
3.  Continue camera work
4.  Collaborate with Eric. A. on remote
5.  OI feedback
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