having finished Second in state with a robot that was built 3 days before and code that was no where near finished i think i need to address some of the short comings:
firstly the failure of the compass sensor. had i been able to effectively use the compass sensor in my program, i could have stop a number of own goals being scored. unfortunately, it never worked. i need to work on a way of prototyping the algorithm i want to use, which means running it by people who understand maths much better than i do and working out exactly how to run calculation with a maximum value of 360.
the second major problem was the horrendous lag created in the program, with the robot jerking and stuttering, and generally not running very smoothly. i have a feeling that this actually cost me the grand final more than anything else... a smooth running robot is more effective than one that stutters uncontrollably and has trouble finding the ball.
the third major issue i had was detecting the range of a pulsing ball. while the IR Seeker V2 would always find the ball it could not tell you distances enough. this meant that there where major issues of the ball being in directly in front of the robot and it not being able to find the ball, instead the robot doing a little dance. it would get "stuck out of phase" polling the ball outside the 40Hz pulse and missing it.
if i can address these major issues, then we'd have a strong entrance into the nationals. on the other hand, if i can find a way of addressing all these issues and adding both communication protocols and positioning values into the program... i think we could win not only standard but premier with the same robots...
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