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andretamm / sdpwinners

STABILITY - making your robots stable since 2014
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SUPFR - Super Ultra Precise Fast Rotation #36

Closed andretamm closed 10 years ago

andretamm commented 10 years ago

What normally happens when we rotate - 1) send rotate command to robot 2) robot starts rotating 3) we see from the vision the robot is about to be at the right position 4) send pre-emptive stop, knowing it will arrive with a delay 5) robot gets stop and kind of stops at the right place

The above is okay when we need to get the ball, because a) we have time b) the ball moves around a lot. But when attacking we want speed and precision! Without further ado, let me introduce you to Super Ultra Precise Fast Rotation or SUPFR:

1) Send rotate command together with how many degrees to rotate 2) Robot rotates exactly that many degrees, BUT is unresponsive while rotating, stops automagically when done rotating

So plan is to use SUPFR for the attacker when trying to score a goal and the old rotation for everything else.

andretamm commented 10 years ago

The SUPFR code on the NXT was written with the ... less than optimal... rechargeable batteries in mind, when using supah awesome Duracells the rotation times will be different, so need to change this to cope with that. @mbleftley is in charge :battery:

mbleftley commented 10 years ago

RotateTo() Function is now optimised for fully charged Duracells. The lines however are commented out, as @andretamm asked, so it will be easy to change.

mbleftley commented 10 years ago

I think this is closed? Unless there is anything else @andretamm wanted to fix.

andretamm commented 10 years ago

We discovered last night that the values need to be different when sending the command from the computer :P. Why? No idea... :D But we should try our new best guesses again tomorrow/day after to see if they're still consistent

andretamm commented 10 years ago

These were tested and fixed the day before the match.