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Portcullis / Cheval-de-Fris device, HardStop and AutoShot (Post RIDE changes)

Started by Louis L, April 08, 2016, 03:18:44 PM

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Louis L

Since RIDE, we've been making software enhancements as well as making hardware modules that will be mounted onto Lepus Interfector after we un-bag at NECMP. From a software point of view, let's outline what these changes are.

  • AutoShot. This code already existed in the LabVIEW implementation but was never fully tested. A pre-requisite here is that we replace the broken gyro with a new model from Analog Devices (this one plugs into the SPI port on the roboRio). We also have a spare. AutoShot is activated in 2 ways. Button 11 of the right joystick (pinky finger reach) will engage it. Once engaged, autoshot will rotate, move forwards or backwards, then shoot. AutoShot is also activated when autonomous mode 4 (or 5) is used. This is the mode that goes over the defense, turns by a preset amount, then engages AutoShot to shoot the boulder.
  • "Flush" now turns the upper roller at 1/4 the voltage of the lower roller.
  • The USB camera is now the only camera used. It replaces the Axis camera facing front. There is no rear facing camera. The brightness setting has been dialed down to avoid washing out the green reflection from the retro reflective tape. We need to tune this at the venue. On LabVIEW, vision processing only takes place when AutoShot is enabled. Video is always streamed to the dashboard.
  • The Portcullis/Cheval-de-Fris (PC) defense buster is almost done. This device does 2 things. When placed in the down position, it will push the Cheval-de-Fris so our robot can go over it. Also when down, if it contacts the Portcullis, software will raise the arm to give the driver easy access under the door. In the "up" position, software can keep the motor running. A limit switch will shut the motor off. If it gets bumped and back-drives off the switch, having the motor on will force it back up. Button 10 on the right joystick will move this up and down. Pressing the button will cause its function to toggle. The arm will also automatically rise after a certain timeout period (5 sec?). Since this mechanism is in the lineof-sight of the camera, we may need to lower it before shooting in AutoShot mode. It's also unclear if we need to lower it in regular manual shooting mode. The motor is tied to CAN8 (previously for the climber winch) and the touch sensor is tied to DIO2 (also previsously for the climber).
  • Old Climber Winch motor attached to CAN8 has been moved to CAN9; and DIO2 is now DIO9. This is purely for LabVIEW. The climber code is still in there (didn't want to mess something up ripping code out!). We moved the climber winch to unused CAN9. CAN8 is now for the PC.
  • The shooter HardStop is now part of the shooter subsystem. This is motor is tied to CAN2. When driven with a positive voltage, an arm will move "up" and provide a hard stop to keep the shooter cam from rotating past the meta-stable point. When driven with a negative voltage, the arm will retract "down". To use, software needs to drive it "up" before winching the shooter and drive it "down" before shooting the boulder.