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Draft: Brainstorm of Robot Capabilities
Binnur Al-Kazily edited this page Jan 11, 2020
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IMPORTANT: In-progress stream of thoughts and comments I have gathered from communications... Feel free to add to this raw stream.
Document objective: at a minimum identify the critical requirements, dependency and integration needs across the team for my own (i.e. Binnur's) personal mental tracking :)
- Delay start to shooting to allow alliance partner to go first
- Auto shooting directly from start location
- N-ball auto and assignment of where to fetch the balls from
- End-auto robot placement on the field
- Detect and report on Shield Generation state readiness and activation
- FMS feedback and alert drivers via dashboard, bling, etc.
- FMS feedback to alert required color for Rotation Control (stage 2 completion) via dashboard, bling, etc.
- High confidence readings of Control Panel and its rotation
- Driver camera, vision, or color sensor to read and report on color states
- Off-robot color calibration support to increase confidence levels -- calibration inputs provided via dashboard, network tables, ...
- Rotation Control and reporting of rotation counts (min 3 but no more than 5) complete revolution in the same direction
- Optimization of Position Control -- rotation to turn to the required color alignment (left or right controls for rotation)for sensor activation (min 5 secs)
- Shooting — when does the robot shoot and how to alert the driver of target acquiring
- Vision & auto-aim
- Driver camera
- Others?
- Auto-steering support for driving under the Control Panel -- Trench Run
- Wall following via sensor support to enable high speed driving
- ?
- Control Panel alignment
- Sensor to align the actuator in the center of the control panel to manipulate color wheel
- Visual signals to help aid Driver during the game
- Visual feedback on the dashboard
- Robot bling feedback
- Climbing instructions for alliance communication
- Given robot weights, who should climb where for leveled hanging (rung is within 8 degrees of horizontal)
- Driver camera to help aid positioning of the robot for climb
- Tuning process or test process at the pit to ensure turret/shooter auto-aim working as designed after any mechanical updates
- ?
- power cell stickiness during intake/indexing
- monitoring of network bandwidth for camera+vision
TBD -- sync w/ electronics team as well
- Vision Camera (Mounted ON the rotating turret)
- To be used for automatic aiming of the turret
- Can provide distance, angle offset, potentially height
- Driver Camera (Mounted ON the rotating turret)
- Used as a backup in the event that the vision camera dies.
- Constantly or on command visible to Mechanism Controller (gunner).
- Has an aiming reticle showing where the vision camera 'thinks' the target is
- Nb: This would have to involve some translation between vision camera frame 👉wide angle driver camera. The exact geometry behind this is not immediately obvious to me, however Mark seems familiar with it.
- Forward Drive Camera
- Likely aligned with the 'Hoover' side of the robot
- Behaves similar to the direction-switching cameras of last year
- 'Switchable' with the reverse camera
- Has a set of aiming bars displaying the FOV of the vision camera, such that the driver can manually (if needed) face the vision target and lock on
- In the place of aiming bars, could simply have an arrow directing the driver which direction to turn
- Reverse Drive Camera
- Opposite side of the drive camera
- 'Switchable' with the forward camera
- Upward Facing Drive Camera
- Camera facing straight upward (Similar to 488's last year camera localization, if that helps)
- Used for manual driver control of the control panel
- Can also be used for climbing alignment
- May involve aiming reticle of some kind