Robot Driver’s Manual
Note: This is team “internal” documentation. Read or use at your own risk.
Note: This is a DRAFT. It is meant to be edited and commented upon.
Note: This is a SPECIFICATION. It describes something that is not yet implemented.
Note: This is a STUB. It is a work-in-progress, and is probably woefully incomplete.
- Default: Four-motor drive. Insert Jumper in Analog/Digital #16 to switch to two-motor drive.
- Default: One-stick driving with right stick (12-mode on axes 1 and 2). Insert Jumper in Analog/Digital #14 to switch to left stick OR insert Jumper in Analog/Digital #15 to switch to two-stick driving (23-mode). Note: Don’t place a jumper in both #14 and #15, or erratic behavior will result.
- Configure robot to use all-digital sensors. Why? Because we don’t own analog sensors.
- Conveyor will be operated with (WHICH?) buttons on the back. (On/off buttons, or hold to drive?)
- Bucket release will be operated with (WHICH?) buttons on the back. (Note: How this works will depend a lot on whether a servo or a drive motor is used for the bucket.)
- Autonomous mode will consist of the robot making random turns and driving forward for short random bursts of time. The robot will crash into walls unless sensors are installed into Analog/Digital #11 (forward-left) and #12 (forward-right). Alternatively, a jumper in Analog/Digital #13 will cause the robot to just drive forward for <TIME>, OR a jumper in Analog/Digital #10 will set the robot to sit still during autonomous mode.
- Insert a jumper into interrupt port 5 for autonomous mode only testing. Insert a jumper into interrupt port 6 for driver control mode only testing. These jumpers must be removed during the actual competition.
- The bridge should have sensors to stop it from opening or closing too far.
Motor/Sensor Ports, Jumpers, and Interrupts
Programmer Note: By default, a digital sensor port will return 1. Inserting a jumper turns it to a 0.
TBD
Port Layout
TBD
Comments
You may wish to include the following in your post:
- Two wheel drive, four wheel drive, or flexible design with a jumper?
- One-stick (a.k.a. 12-mode), two-sticks (a.k.a. 23-mode), or both with a jumper?
- If one-stick, which stick?
- Motor port layout; sensors (if any) and how to act on them. (We have two touch and two “floor” sensors!)
- Ramp control methods (if any)?
- Autonomous strategies
Cyrus Yau said
you told me too
Michael Chang said
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Andrey Vul said
jumper everything; then it will be easier to make last-minute alterations if needed.
Michael Chang said
Inertia is causing the gears to skip when we reverse directions at full speed. Recommended fix: manually do the 12-mix as per the specs in the manual, and then implement code to limit the speed at which directions are reversed. Workaround: Limit top speed by scaling axis 2 to 40% in controller config 2.
Note: The fix will modify performance characteristics of the robot. Drivers will need to be notified about how the changes affect handling, and trained on how to disable the changes in the event of an emergency.
Teams involved: Programming, Drive Train, Drivers
Michael Chang said
There are concerns about the usability of the hold button design of the bucket. Suggestions for a raise/lower button have been requested. Recommended fix: internally track a variable used to determine the position of the servo and use the buttons to change the variable, instead of directly mapping buttons to the servo.
Teams involved: Programming, Drivers