RoboJackets Wiki - User contributions [en]

RoboCup Software

2013-02-02T07:00:33Z

Ehuang: /* Development */

=Overview=
RoboCup Software encompasses all parts of the system that run on a host machine (not the robots). The entire software system is composed both of the components we play soccer and compete with as well as a sort of SDK that allows new components to be written quickly for idea and system testing.

==Agenda==
This is a list of the meeting agendas throughout the semester
* [[Robocup Meeting: Sunday Sep-9-2012]]
* [[Robocup Meeting: Wednesday Sep-12-2012]]
* [[Robocup Meeting: Sunday Sep-16-2012]]
* [[Robocup Meeting: Wednesday Sep-19-2012]]
* [[Robocup Meeting: Sunday Sep-23-2012]]
* [[Robocup Meeting: Wednesday Sep-26-2012]]
* [[Robocup Meeting: Sunday Sep-30-2012]]

=Tasks=
This is the main list of project ideas/tasks for robocup 2013

[[Robocup Software Tasks 2013]]

[[C++ Homeworks]]

==Main Programs==
; [[RoboCup Soccer | soccer]] : Everything after vision and before radio happens here.
; [[RoboCup Simulator | simulator]] : Simulates a game environment, including vision and radio
; sslrefbox : The standard SSL referee box for issuing referee commands to all teams
; radio : Radio communication with on-field robots

==Logging Utilities==
; log_viewer : Playback of logged data
; simple_logger : Records vision and referee data just like soccer does, but with no processing.
; convert_tcpdump : Reads vision and referee packets from a tcpdump file and generates a log file. Use with util/log_vision.

=Development=
; [[RoboCup Boost Unit Tests]] : Explains how Boost Unit Testing Framework is integrated into and run from SCons.
; [[RoboCup Coding Standard]] : Coding standard
; [[RoboCup Setup]] : A step by step guide to setting up your new Linux system with our code base.
; [[RoboCup Tips&Tricks]] : Some pointers on how to begin writing and debugging code.
; [[RoboCup GIT HOWTO]] : We currently use Git as our code management system, and this will explain how to acquire and update the code base.
; [[RoboCup Eclipse HOWTO]] : You can use any editor you want, but one useful one is Eclipse. This HOWTO explains how to get an set up eclipse.
; [[RoboCup Compile HOWTO]] : System requirements, dependencies, and using the build tools to compile all of the software.
; [[RoboCup Simulator Execution]] : How to start and configure the simulator and connect to one or two soccer playing modules, as well as the Referee Module
; [[RoboCup Live Robot Execution]] : How to start and run the soccer with actual robots, connect to shared vision, and receive commands from the Referee Module
; [[RoboCup Vision System]] : How to setup the vision system (camera calibration, blob detection, etc.)
; [[Robocup Play Development HOWTO]] : How to create a simple play to get started

=Conventions=
There are a variety of conventions used throughout the code, both to represent soccer-playing, and to maintain consistency in code development.
; [[RoboCup Robot Identification]] : The means by which specific robots and field entities can be identified
; [[RoboCup Field Structure]] : The coordinate systems and their relationship to the field
; [[RC_FieldCamera| Field and Camera Information]] : Specifications on our cameras

[[Category: RoboCup]] [[Category: 2013]]

RoboCup Software

2013-02-02T07:00:22Z

Ehuang: /* Development */

=Overview=
RoboCup Software encompasses all parts of the system that run on a host machine (not the robots). The entire software system is composed both of the components we play soccer and compete with as well as a sort of SDK that allows new components to be written quickly for idea and system testing.

==Agenda==
This is a list of the meeting agendas throughout the semester
* [[Robocup Meeting: Sunday Sep-9-2012]]
* [[Robocup Meeting: Wednesday Sep-12-2012]]
* [[Robocup Meeting: Sunday Sep-16-2012]]
* [[Robocup Meeting: Wednesday Sep-19-2012]]
* [[Robocup Meeting: Sunday Sep-23-2012]]
* [[Robocup Meeting: Wednesday Sep-26-2012]]
* [[Robocup Meeting: Sunday Sep-30-2012]]

=Tasks=
This is the main list of project ideas/tasks for robocup 2013

[[Robocup Software Tasks 2013]]

[[C++ Homeworks]]

==Main Programs==
; [[RoboCup Soccer | soccer]] : Everything after vision and before radio happens here.
; [[RoboCup Simulator | simulator]] : Simulates a game environment, including vision and radio
; sslrefbox : The standard SSL referee box for issuing referee commands to all teams
; radio : Radio communication with on-field robots

==Logging Utilities==
; log_viewer : Playback of logged data
; simple_logger : Records vision and referee data just like soccer does, but with no processing.
; convert_tcpdump : Reads vision and referee packets from a tcpdump file and generates a log file. Use with util/log_vision.

=Development=
; [[RoboCup Boost Unit Tests]] : Explains how Boost Unit Testing Framework is integrated and run from SCons.
; [[RoboCup Coding Standard]] : Coding standard
; [[RoboCup Setup]] : A step by step guide to setting up your new Linux system with our code base.
; [[RoboCup Tips&Tricks]] : Some pointers on how to begin writing and debugging code.
; [[RoboCup GIT HOWTO]] : We currently use Git as our code management system, and this will explain how to acquire and update the code base.
; [[RoboCup Eclipse HOWTO]] : You can use any editor you want, but one useful one is Eclipse. This HOWTO explains how to get an set up eclipse.
; [[RoboCup Compile HOWTO]] : System requirements, dependencies, and using the build tools to compile all of the software.
; [[RoboCup Simulator Execution]] : How to start and configure the simulator and connect to one or two soccer playing modules, as well as the Referee Module
; [[RoboCup Live Robot Execution]] : How to start and run the soccer with actual robots, connect to shared vision, and receive commands from the Referee Module
; [[RoboCup Vision System]] : How to setup the vision system (camera calibration, blob detection, etc.)
; [[Robocup Play Development HOWTO]] : How to create a simple play to get started

=Conventions=
There are a variety of conventions used throughout the code, both to represent soccer-playing, and to maintain consistency in code development.
; [[RoboCup Robot Identification]] : The means by which specific robots and field entities can be identified
; [[RoboCup Field Structure]] : The coordinate systems and their relationship to the field
; [[RC_FieldCamera| Field and Camera Information]] : Specifications on our cameras

[[Category: RoboCup]] [[Category: 2013]]

RoboCup Software

2013-02-02T07:00:09Z

Ehuang: /* Development */

=Overview=
RoboCup Software encompasses all parts of the system that run on a host machine (not the robots). The entire software system is composed both of the components we play soccer and compete with as well as a sort of SDK that allows new components to be written quickly for idea and system testing.

==Agenda==
This is a list of the meeting agendas throughout the semester
* [[Robocup Meeting: Sunday Sep-9-2012]]
* [[Robocup Meeting: Wednesday Sep-12-2012]]
* [[Robocup Meeting: Sunday Sep-16-2012]]
* [[Robocup Meeting: Wednesday Sep-19-2012]]
* [[Robocup Meeting: Sunday Sep-23-2012]]
* [[Robocup Meeting: Wednesday Sep-26-2012]]
* [[Robocup Meeting: Sunday Sep-30-2012]]

=Tasks=
This is the main list of project ideas/tasks for robocup 2013

[[Robocup Software Tasks 2013]]

[[C++ Homeworks]]

==Main Programs==
; [[RoboCup Soccer | soccer]] : Everything after vision and before radio happens here.
; [[RoboCup Simulator | simulator]] : Simulates a game environment, including vision and radio
; sslrefbox : The standard SSL referee box for issuing referee commands to all teams
; radio : Radio communication with on-field robots

==Logging Utilities==
; log_viewer : Playback of logged data
; simple_logger : Records vision and referee data just like soccer does, but with no processing.
; convert_tcpdump : Reads vision and referee packets from a tcpdump file and generates a log file. Use with util/log_vision.

=Development=
; [[RoboCup Unit Tests]] : Explains how Boost Unit Testing Framework is integrated and run from SCons.
; [[RoboCup Coding Standard]] : Coding standard
; [[RoboCup Setup]] : A step by step guide to setting up your new Linux system with our code base.
; [[RoboCup Tips&Tricks]] : Some pointers on how to begin writing and debugging code.
; [[RoboCup GIT HOWTO]] : We currently use Git as our code management system, and this will explain how to acquire and update the code base.
; [[RoboCup Eclipse HOWTO]] : You can use any editor you want, but one useful one is Eclipse. This HOWTO explains how to get an set up eclipse.
; [[RoboCup Compile HOWTO]] : System requirements, dependencies, and using the build tools to compile all of the software.
; [[RoboCup Simulator Execution]] : How to start and configure the simulator and connect to one or two soccer playing modules, as well as the Referee Module
; [[RoboCup Live Robot Execution]] : How to start and run the soccer with actual robots, connect to shared vision, and receive commands from the Referee Module
; [[RoboCup Vision System]] : How to setup the vision system (camera calibration, blob detection, etc.)
; [[Robocup Play Development HOWTO]] : How to create a simple play to get started

=Conventions=
There are a variety of conventions used throughout the code, both to represent soccer-playing, and to maintain consistency in code development.
; [[RoboCup Robot Identification]] : The means by which specific robots and field entities can be identified
; [[RoboCup Field Structure]] : The coordinate systems and their relationship to the field
; [[RC_FieldCamera| Field and Camera Information]] : Specifications on our cameras

[[Category: RoboCup]] [[Category: 2013]]

File:Homework2.tar.gz

2012-11-02T18:43:26Z

Ehuang:

File:Homework1.tar.gz

2012-11-02T18:42:35Z

Ehuang:

RoboCup Software

2012-10-24T23:16:35Z

Ehuang:

=Overview=
RoboCup Software encompasses all parts of the system that run on a host machine (not the robots). The entire software system is composed both of the components we play soccer and compete with as well as a sort of SDK that allows new components to be written quickly for idea and system testing.

==Agenda==
This is a list of the meeting agendas throughout the semester
* [[Robocup Meeting: Sunday Sep-9-2012]]
* [[Robocup Meeting: Wednesday Sep-12-2012]]
* [[Robocup Meeting: Sunday Sep-16-2012]]
* [[Robocup Meeting: Wednesday Sep-19-2012]]
* [[Robocup Meeting: Sunday Sep-23-2012]]
* [[Robocup Meeting: Wednesday Sep-26-2012]]
* [[Robocup Meeting: Sunday Sep-30-2012]]

=Tasks=
This is the main list of project ideas/tasks for robocup 2013

[[Robocup Software Tasks 2013]]

[[C++ Homeworks]]

==Main Programs==
; [[RoboCup Soccer | soccer]] : Everything after vision and before radio happens here.
; [[RoboCup Simulator | simulator]] : Simulates a game environment, including vision and radio
; sslrefbox : The standard SSL referee box for issuing referee commands to all teams
; radio : Radio communication with on-field robots

==Logging Utilities==
; log_viewer : Playback of logged data
; simple_logger : Records vision and referee data just like soccer does, but with no processing.
; convert_tcpdump : Reads vision and referee packets from a tcpdump file and generates a log file. Use with util/log_vision.

=Development=
; [[RoboCup Coding Standard]] : Coding standard
; [[RoboCup Setup]] : A step by step guide to setting up your new Linux system with our code base.
; [[RoboCup Tips&Tricks]] : Some pointers on how to begin writing and debugging code.
; [[RoboCup GIT HOWTO]] : We currently use Git as our code management system, and this will explain how to acquire and update the code base.
; [[RoboCup Eclipse HOWTO]] : You can use any editor you want, but one useful one is Eclipse. This HOWTO explains how to get an set up eclipse.
; [[RoboCup Compile HOWTO]] : System requirements, dependencies, and using the build tools to compile all of the software.
; [[RoboCup Simulator Execution]] : How to start and configure the simulator and connect to one or two soccer playing modules, as well as the Referee Module
; [[RoboCup Live Robot Execution]] : How to start and run the soccer with actual robots, connect to shared vision, and receive commands from the Referee Module
; [[RoboCup Vision System]] : How to setup the vision system (camera calibration, blob detection, etc.)
; [[Robocup Play Development HOWTO]] : How to create a simple play to get started

=Conventions=
There are a variety of conventions used throughout the code, both to represent soccer-playing, and to maintain consistency in code development.
; [[RoboCup Robot Identification]] : The means by which specific robots and field entities can be identified
; [[RoboCup Field Structure]] : The coordinate systems and their relationship to the field
; [[RC_FieldCamera| Field and Camera Information]] : Specifications on our cameras

[[Category: RoboCup]] [[Category: 2013]]

RC09-Omni

2012-10-06T23:50:18Z

Ehuang: /* Drawings */

As part of the [[RoboCupMechanical|RoboCup 2009 Mechanical]], the Omni Wheels allow the robots to move in any direction at anytime.
[[Image:RC2009OmniWheelRender.jpg|thumb|right|2009 RoboJackets RoboCup Omni Wheel]]

==Drawings==
[[Image:OmniWheel_Explosion.jpg|400px]]

==Assembly Structure==

==Parts & Components==
Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per robot volume pricing if available is in parenthesis.

===Stock===
=====Plate - Wheel Plate=====
:Vendor - McMaster-Carr
:Part No. - 8885K13
:Cost - $21.63
:Description - Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"

=====Plate - Wheel Body=====
:Vendor - McMaster-Carr
:Part No. - 9246K23
:Cost - $28.51
:Description - Multipurpose Aluminum (Alloy 6061) 3/8" Thick, 12" X 12"

=====Shaft - Rollers=====
:Vendor - McMaster-Carr
:Part No. - 9063K243
:Cost - $17.48
:Description - Alloy 7075 Aluminum Precision Ground Rod 1/8" Diameter, 3' Length
:''Note: Usually ships within 2 weeks.''

===Fasteners===
=====6-32 Low Head Socket Cap Screw=====
:Vendor - McMaster-Carr
:Part No. - 92220A141
:Cost - $7.42 (packs of 25)
:Description - Alloy Steel Low Head Socket Cap Screw 6-32 Thread, 1/4" Length

=====3/16" Dowel Pin=====
:Vendor - MSC
:Part No. - 88231758
:Cost - $43.08 (per 100)
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 3/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright

=====1/16" Dowel Pin=====
:Vendor - MSC
:Part No. - 88231196
:Cost - $19.83 (per 100)
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright

===Other===
=====O-Ring=====
:Vendor - McMaster-Carr
:Part No. - 94115K012
:Cost - $2.87 (Pks of 100)
:Quantity -
:Description - Neoprene O-Ring AS568A Dash Number 012

==Assembly==
====Tools needed====
:3 axis CNC Mill
:WaterJet
:Hex Keys
:Press
:CNC Lathe(parts are outsourced)
====Instructions====
=====Fabrication=====
#The Omni body is fabricated through the use of the HAAS a 3 axis CNC Mill. The 3/8'' plate is used for this process
#The Omni Plate or Wheel plate is made with the Waterjet using the .063'' 7075 aluminum sheet.
##Due to the Omni Plates being quite small it is advised that you connect at least 2 together and then grinding away the small connection.
#The omni rollers are outsourced. If one has access to a CNC lathe then one could fabricate one's own.
#The planetary gear is also outsourced.
=====Assembly=====
# Put o-rings in the groove in the rollers and press the 1/16'' dowel pins into the hole.
# Use the press to press the bearing into the center hole of the omni body and the dowel pins into the 3 holes surrounding it.
# On the back of the omni body place the plastic inserts into the small holes.
# Attach the planetary gear by screwing in the 0-80 screws into the plastic inserts.
# Place rollers with o-rings and dowel pins into the grooves on the omni body
# Fit plate on top of the omni body and secure it by screwing in the 6-32x1/4 screws.

==Cost Estimates==

==Action Log==
# 10/19/2008 - Initial revised roller design completed.
# 11/02/2008 - Added new groove style for new rollers.
# 11/09/2008 - Refined roller design.
# 12/30/2008 - Resized to match internal gear dimensions.
# 01/13/2009 - Added fillets.
# 02/01/2009 - Drawing for rollers produced and ready to be posted for quote.
# 02/22/2009 - Design for prototype completed.
# 03/15/2009 - Rollers posted to mfg.com for quote.
# 03/17/2009 - Design revised. Internal gear added to omni body.
# 03/25/2009 - Supplier for rollers selected.
# 04/08/2009 - All 400 Rollers arrive for omni wheels.
# 05/05/2009 - 1/2 of rollers are assembled.
# 07/18/2009 - Omni bodies CAM'd.
# 01/26/2010 - Omni plates for prototype water jetted.
# 02/03/2010 - Tooling required to make omni bodies arrives.
# 02/13/2010 - First omni body completed. Problems encountered with automated tapping of 6-32s.
# 03/20/2010 - Last omni body for prototype made.
# 03/23/2010 - Revisions made to omni design to allow for better draining of retaining compound, symmetrical plate positioning, and new bearings.
# 04/03/2010 - First fleet omni body made. Process is down to 2hrs.

[[Category: RoboCup Mechanical]] [[Category: 2009]]

RC09-Omni

2012-10-06T23:49:54Z

Ehuang: /* Drawings */

As part of the [[RoboCupMechanical|RoboCup 2009 Mechanical]], the Omni Wheels allow the robots to move in any direction at anytime.
[[Image:RC2009OmniWheelRender.jpg|thumb|right|2009 RoboJackets RoboCup Omni Wheel]]

==Drawings==
[[Image:OmniWheel_Explosion.jpg|50px]]

==Assembly Structure==

==Parts & Components==
Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per robot volume pricing if available is in parenthesis.

===Stock===
=====Plate - Wheel Plate=====
:Vendor - McMaster-Carr
:Part No. - 8885K13
:Cost - $21.63
:Description - Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"

=====Plate - Wheel Body=====
:Vendor - McMaster-Carr
:Part No. - 9246K23
:Cost - $28.51
:Description - Multipurpose Aluminum (Alloy 6061) 3/8" Thick, 12" X 12"

=====Shaft - Rollers=====
:Vendor - McMaster-Carr
:Part No. - 9063K243
:Cost - $17.48
:Description - Alloy 7075 Aluminum Precision Ground Rod 1/8" Diameter, 3' Length
:''Note: Usually ships within 2 weeks.''

===Fasteners===
=====6-32 Low Head Socket Cap Screw=====
:Vendor - McMaster-Carr
:Part No. - 92220A141
:Cost - $7.42 (packs of 25)
:Description - Alloy Steel Low Head Socket Cap Screw 6-32 Thread, 1/4" Length

=====3/16" Dowel Pin=====
:Vendor - MSC
:Part No. - 88231758
:Cost - $43.08 (per 100)
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 3/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright

=====1/16" Dowel Pin=====
:Vendor - MSC
:Part No. - 88231196
:Cost - $19.83 (per 100)
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright

===Other===
=====O-Ring=====
:Vendor - McMaster-Carr
:Part No. - 94115K012
:Cost - $2.87 (Pks of 100)
:Quantity -
:Description - Neoprene O-Ring AS568A Dash Number 012

==Assembly==
====Tools needed====
:3 axis CNC Mill
:WaterJet
:Hex Keys
:Press
:CNC Lathe(parts are outsourced)
====Instructions====
=====Fabrication=====
#The Omni body is fabricated through the use of the HAAS a 3 axis CNC Mill. The 3/8'' plate is used for this process
#The Omni Plate or Wheel plate is made with the Waterjet using the .063'' 7075 aluminum sheet.
##Due to the Omni Plates being quite small it is advised that you connect at least 2 together and then grinding away the small connection.
#The omni rollers are outsourced. If one has access to a CNC lathe then one could fabricate one's own.
#The planetary gear is also outsourced.
=====Assembly=====
# Put o-rings in the groove in the rollers and press the 1/16'' dowel pins into the hole.
# Use the press to press the bearing into the center hole of the omni body and the dowel pins into the 3 holes surrounding it.
# On the back of the omni body place the plastic inserts into the small holes.
# Attach the planetary gear by screwing in the 0-80 screws into the plastic inserts.
# Place rollers with o-rings and dowel pins into the grooves on the omni body
# Fit plate on top of the omni body and secure it by screwing in the 6-32x1/4 screws.

==Cost Estimates==

==Action Log==
# 10/19/2008 - Initial revised roller design completed.
# 11/02/2008 - Added new groove style for new rollers.
# 11/09/2008 - Refined roller design.
# 12/30/2008 - Resized to match internal gear dimensions.
# 01/13/2009 - Added fillets.
# 02/01/2009 - Drawing for rollers produced and ready to be posted for quote.
# 02/22/2009 - Design for prototype completed.
# 03/15/2009 - Rollers posted to mfg.com for quote.
# 03/17/2009 - Design revised. Internal gear added to omni body.
# 03/25/2009 - Supplier for rollers selected.
# 04/08/2009 - All 400 Rollers arrive for omni wheels.
# 05/05/2009 - 1/2 of rollers are assembled.
# 07/18/2009 - Omni bodies CAM'd.
# 01/26/2010 - Omni plates for prototype water jetted.
# 02/03/2010 - Tooling required to make omni bodies arrives.
# 02/13/2010 - First omni body completed. Problems encountered with automated tapping of 6-32s.
# 03/20/2010 - Last omni body for prototype made.
# 03/23/2010 - Revisions made to omni design to allow for better draining of retaining compound, symmetrical plate positioning, and new bearings.
# 04/03/2010 - First fleet omni body made. Process is down to 2hrs.

[[Category: RoboCup Mechanical]] [[Category: 2009]]

RC09-Omni

2012-10-06T23:49:01Z

Ehuang:

As part of the [[RoboCupMechanical|RoboCup 2009 Mechanical]], the Omni Wheels allow the robots to move in any direction at anytime.
[[Image:RC2009OmniWheelRender.jpg|thumb|right|2009 RoboJackets RoboCup Omni Wheel]]

==Drawings==
[[Image:OmniWheel_Explosion.jpg|500px]]

==Assembly Structure==

==Parts & Components==
Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per robot volume pricing if available is in parenthesis.

===Stock===
=====Plate - Wheel Plate=====
:Vendor - McMaster-Carr
:Part No. - 8885K13
:Cost - $21.63
:Description - Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"

=====Plate - Wheel Body=====
:Vendor - McMaster-Carr
:Part No. - 9246K23
:Cost - $28.51
:Description - Multipurpose Aluminum (Alloy 6061) 3/8" Thick, 12" X 12"

=====Shaft - Rollers=====
:Vendor - McMaster-Carr
:Part No. - 9063K243
:Cost - $17.48
:Description - Alloy 7075 Aluminum Precision Ground Rod 1/8" Diameter, 3' Length
:''Note: Usually ships within 2 weeks.''

===Fasteners===
=====6-32 Low Head Socket Cap Screw=====
:Vendor - McMaster-Carr
:Part No. - 92220A141
:Cost - $7.42 (packs of 25)
:Description - Alloy Steel Low Head Socket Cap Screw 6-32 Thread, 1/4" Length

=====3/16" Dowel Pin=====
:Vendor - MSC
:Part No. - 88231758
:Cost - $43.08 (per 100)
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 3/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright

=====1/16" Dowel Pin=====
:Vendor - MSC
:Part No. - 88231196
:Cost - $19.83 (per 100)
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright

===Other===
=====O-Ring=====
:Vendor - McMaster-Carr
:Part No. - 94115K012
:Cost - $2.87 (Pks of 100)
:Quantity -
:Description - Neoprene O-Ring AS568A Dash Number 012

==Assembly==
====Tools needed====
:3 axis CNC Mill
:WaterJet
:Hex Keys
:Press
:CNC Lathe(parts are outsourced)
====Instructions====
=====Fabrication=====
#The Omni body is fabricated through the use of the HAAS a 3 axis CNC Mill. The 3/8'' plate is used for this process
#The Omni Plate or Wheel plate is made with the Waterjet using the .063'' 7075 aluminum sheet.
##Due to the Omni Plates being quite small it is advised that you connect at least 2 together and then grinding away the small connection.
#The omni rollers are outsourced. If one has access to a CNC lathe then one could fabricate one's own.
#The planetary gear is also outsourced.
=====Assembly=====
# Put o-rings in the groove in the rollers and press the 1/16'' dowel pins into the hole.
# Use the press to press the bearing into the center hole of the omni body and the dowel pins into the 3 holes surrounding it.
# On the back of the omni body place the plastic inserts into the small holes.
# Attach the planetary gear by screwing in the 0-80 screws into the plastic inserts.
# Place rollers with o-rings and dowel pins into the grooves on the omni body
# Fit plate on top of the omni body and secure it by screwing in the 6-32x1/4 screws.

==Cost Estimates==

==Action Log==
# 10/19/2008 - Initial revised roller design completed.
# 11/02/2008 - Added new groove style for new rollers.
# 11/09/2008 - Refined roller design.
# 12/30/2008 - Resized to match internal gear dimensions.
# 01/13/2009 - Added fillets.
# 02/01/2009 - Drawing for rollers produced and ready to be posted for quote.
# 02/22/2009 - Design for prototype completed.
# 03/15/2009 - Rollers posted to mfg.com for quote.
# 03/17/2009 - Design revised. Internal gear added to omni body.
# 03/25/2009 - Supplier for rollers selected.
# 04/08/2009 - All 400 Rollers arrive for omni wheels.
# 05/05/2009 - 1/2 of rollers are assembled.
# 07/18/2009 - Omni bodies CAM'd.
# 01/26/2010 - Omni plates for prototype water jetted.
# 02/03/2010 - Tooling required to make omni bodies arrives.
# 02/13/2010 - First omni body completed. Problems encountered with automated tapping of 6-32s.
# 03/20/2010 - Last omni body for prototype made.
# 03/23/2010 - Revisions made to omni design to allow for better draining of retaining compound, symmetrical plate positioning, and new bearings.
# 04/03/2010 - First fleet omni body made. Process is down to 2hrs.

[[Category: RoboCup Mechanical]] [[Category: 2009]]

RC09-Omni

2012-10-06T23:47:43Z

Ehuang:

As part of the [[RoboCupMechanical|RoboCup 2009 Mechanical]], the Omni Wheels allow the robots to move in any direction at anytime.
[[Image:RC2009OmniWheelRender.jpg|thumb|right|2009 RoboJackets RoboCup Omni Wheel]]

==Drawings==

==Assembly Structure==

==Parts & Components==
Amounts are based on per robot. Materials are in sizes for prototyping not lowest cost per robot volume pricing if available is in parenthesis.

===Stock===
=====Plate - Wheel Plate=====
:Vendor - McMaster-Carr
:Part No. - 8885K13
:Cost - $21.63
:Description - Alloy 7075 Aluminum Sheet .063" Thick, 12" X 12"

=====Plate - Wheel Body=====
:Vendor - McMaster-Carr
:Part No. - 9246K23
:Cost - $28.51
:Description - Multipurpose Aluminum (Alloy 6061) 3/8" Thick, 12" X 12"

=====Shaft - Rollers=====
:Vendor - McMaster-Carr
:Part No. - 9063K243
:Cost - $17.48
:Description - Alloy 7075 Aluminum Precision Ground Rod 1/8" Diameter, 3' Length
:''Note: Usually ships within 2 weeks.''

===Fasteners===
=====6-32 Low Head Socket Cap Screw=====
:Vendor - McMaster-Carr
:Part No. - 92220A141
:Cost - $7.42 (packs of 25)
:Description - Alloy Steel Low Head Socket Cap Screw 6-32 Thread, 1/4" Length

=====3/16" Dowel Pin=====
:Vendor - MSC
:Part No. - 88231758
:Cost - $43.08 (per 100)
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 3/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright

=====1/16" Dowel Pin=====
:Vendor - MSC
:Part No. - 88231196
:Cost - $19.83 (per 100)
:Description - Precision Ground Dowel Pins - Stainless Steel Type: Dowel Pin Diameter: 1/16 Overall Length: 1/4 Material: Stainless Steel - 416 SS Finish/Coating: Bright

===Other===
=====O-Ring=====
:Vendor - McMaster-Carr
:Part No. - 94115K012
:Cost - $2.87 (Pks of 100)
:Quantity -
:Description - Neoprene O-Ring AS568A Dash Number 012

==Assembly==
====Tools needed====
:3 axis CNC Mill
:WaterJet
:Hex Keys
:Press
:CNC Lathe(parts are outsourced)
====Instructions====
=====Fabrication=====
#The Omni body is fabricated through the use of the HAAS a 3 axis CNC Mill. The 3/8'' plate is used for this process
#The Omni Plate or Wheel plate is made with the Waterjet using the .063'' 7075 aluminum sheet.
##Due to the Omni Plates being quite small it is advised that you connect at least 2 together and then grinding away the small connection.
#The omni rollers are outsourced. If one has access to a CNC lathe then one could fabricate one's own.
#The planetary gear is also outsourced.
=====Assembly=====
# Put o-rings in the groove in the rollers and press the 1/16'' dowel pins into the hole.
# Use the press to press the bearing into the center hole of the omni body and the dowel pins into the 3 holes surrounding it.
# On the back of the omni body place the plastic inserts into the small holes.
# Attach the planetary gear by screwing in the 0-80 screws into the plastic inserts.
# Place rollers with o-rings and dowel pins into the grooves on the omni body
# Fit plate on top of the omni body and secure it by screwing in the 6-32x1/4 screws.

==Cost Estimates==

==Action Log==
# 10/19/2008 - Initial revised roller design completed.
# 11/02/2008 - Added new groove style for new rollers.
# 11/09/2008 - Refined roller design.
# 12/30/2008 - Resized to match internal gear dimensions.
# 01/13/2009 - Added fillets.
# 02/01/2009 - Drawing for rollers produced and ready to be posted for quote.
# 02/22/2009 - Design for prototype completed.
# 03/15/2009 - Rollers posted to mfg.com for quote.
# 03/17/2009 - Design revised. Internal gear added to omni body.
# 03/25/2009 - Supplier for rollers selected.
# 04/08/2009 - All 400 Rollers arrive for omni wheels.
# 05/05/2009 - 1/2 of rollers are assembled.
# 07/18/2009 - Omni bodies CAM'd.
# 01/26/2010 - Omni plates for prototype water jetted.
# 02/03/2010 - Tooling required to make omni bodies arrives.
# 02/13/2010 - First omni body completed. Problems encountered with automated tapping of 6-32s.
# 03/20/2010 - Last omni body for prototype made.
# 03/23/2010 - Revisions made to omni design to allow for better draining of retaining compound, symmetrical plate positioning, and new bearings.
# 04/03/2010 - First fleet omni body made. Process is down to 2hrs.

[[Category: RoboCup Mechanical]] [[Category: 2009]]

RoboCup Software

2012-09-30T04:34:38Z

Ehuang: /* Agenda */

=Overview=
RoboCup Software encompasses all parts of the system that run on a host machine (not the robots). The entire software system is composed both of the components we play soccer and compete with as well as a sort of SDK that allows new components to be written quickly for idea and system testing.

==Agenda==
This is a list of the meeting agendas throughout the semester
* [[Robocup Meeting: Sunday Sep-9-2012]]
* [[Robocup Meeting: Wednesday Sep-12-2012]]
* [[Robocup Meeting: Sunday Sep-16-2012]]
* [[Robocup Meeting: Wednesday Sep-19-2012]]
* [[Robocup Meeting: Sunday Sep-23-2012]]
* [[Robocup Meeting: Wednesday Sep-26-2012]]
* [[Robocup Meeting: Sunday Sep-30-2012]]

=Tasks=
This is the main list of project ideas/tasks for robocup 2013

[[Robocup Software Tasks 2013]]

==Main Programs==
; [[RoboCup Soccer | soccer]] : Everything after vision and before radio happens here.
; [[RoboCup Simulator | simulator]] : Simulates a game environment, including vision and radio
; sslrefbox : The standard SSL referee box for issuing referee commands to all teams
; radio : Radio communication with on-field robots

==Logging Utilities==
; log_viewer : Playback of logged data
; simple_logger : Records vision and referee data just like soccer does, but with no processing.
; convert_tcpdump : Reads vision and referee packets from a tcpdump file and generates a log file. Use with util/log_vision.

=Development=
; [[RoboCup Coding Standard]] : Coding standard
; [[RoboCup Setup]] : A step by step guide to setting up your new Linux system with our code base.
; [[RoboCup Tips&Tricks]] : Some pointers on how to begin writing and debugging code.
; [[RoboCup GIT HOWTO]] : We currently use Git as our code management system, and this will explain how to acquire and update the code base.
; [[RoboCup Eclipse HOWTO]] : You can use any editor you want, but one useful one is Eclipse. This HOWTO explains how to get an set up eclipse.
; [[RoboCup Compile HOWTO]] : System requirements, dependencies, and using the build tools to compile all of the software.
; [[RoboCup Simulator Execution]] : How to start and configure the simulator and connect to one or two soccer playing modules, as well as the Referee Module
; [[RoboCup Live Robot Execution]] : How to start and run the soccer with actual robots, connect to shared vision, and receive commands from the Referee Module
; [[RoboCup Vision System]] : How to setup the vision system (camera calibration, blob detection, etc.)
; [[Robocup Play Development HOWTO]] : How to create a simple play to get started

=Conventions=
There are a variety of conventions used throughout the code, both to represent soccer-playing, and to maintain consistency in code development.
; [[RoboCup Robot Identification]] : The means by which specific robots and field entities can be identified
; [[RoboCup Field Structure]] : The coordinate systems and their relationship to the field
; [[RC_FieldCamera| Field and Camera Information]] : Specifications on our cameras

[[Category: RoboCup]] [[Category: 2013]]

RoboCup Software

2012-09-23T13:51:07Z

Ehuang: /* Agenda */

=Overview=
RoboCup Software encompasses all parts of the system that run on a host machine (not the robots). The entire software system is composed both of the components we play soccer and compete with as well as a sort of SDK that allows new components to be written quickly for idea and system testing.

==Agenda==
This is a list of the meeting agendas throughout the semester
* [[Robocup Meeting: Sunday Sep-9-2012]]
* [[Robocup Meeting: Wednesday Sep-12-2012]]
* [[Robocup Meeting: Sunday Sep-16-2012]]
* [[Robocup Meeting: Wednesday Sep-19-2012]]
* [[Robocup Meeting: Sunday Sep-23-2012]]

=Tasks=
This is the main list of project ideas/tasks for robocup 2013

[[Robocup Software Tasks 2013]]

==Main Programs==
; [[RoboCup Soccer | soccer]] : Everything after vision and before radio happens here.
; [[RoboCup Simulator | simulator]] : Simulates a game environment, including vision and radio
; sslrefbox : The standard SSL referee box for issuing referee commands to all teams
; radio : Radio communication with on-field robots

==Logging Utilities==
; log_viewer : Playback of logged data
; simple_logger : Records vision and referee data just like soccer does, but with no processing.
; convert_tcpdump : Reads vision and referee packets from a tcpdump file and generates a log file. Use with util/log_vision.

=Development=
; [[RoboCup Coding Standard]] : Coding standard
; [[RoboCup Setup]] : A step by step guide to setting up your new Linux system with our code base.
; [[RoboCup Tips&Tricks]] : Some pointers on how to begin writing and debugging code.
; [[RoboCup GIT HOWTO]] : We currently use Git as our code management system, and this will explain how to acquire and update the code base.
; [[RoboCup Eclipse HOWTO]] : You can use any editor you want, but one useful one is Eclipse. This HOWTO explains how to get an set up eclipse.
; [[RoboCup Compile HOWTO]] : System requirements, dependencies, and using the build tools to compile all of the software.
; [[RoboCup Simulator Execution]] : How to start and configure the simulator and connect to one or two soccer playing modules, as well as the Referee Module
; [[RoboCup Live Robot Execution]] : How to start and run the soccer with actual robots, connect to shared vision, and receive commands from the Referee Module
; [[RoboCup Vision System]] : How to setup the vision system (camera calibration, blob detection, etc.)
; [[Robocup Play Development HOWTO]] : How to create a simple play to get started

=Conventions=
There are a variety of conventions used throughout the code, both to represent soccer-playing, and to maintain consistency in code development.
; [[RoboCup Robot Identification]] : The means by which specific robots and field entities can be identified
; [[RoboCup Field Structure]] : The coordinate systems and their relationship to the field
; [[RC_FieldCamera| Field and Camera Information]] : Specifications on our cameras

[[Category: RoboCup]] [[Category: 2013]]

RoboCup Simulator

2012-09-20T06:08:57Z

Ehuang:

The simulator, <tt>simulator</tt>, is used heavily for off-line development and testing. It provides the same interfaces as <tt>ssl-vision</tt> and <tt>radio</tt>, allowing <tt>soccer</tt> to run in (nearly) the same way for simulation and real operation.

==Invocation==
<pre>
./simulator [-c <config file>] [--sv]
</pre>

The configuration file specifies the number and model of the robots on the blue team and yellow team.

If no configuration file is given, it will use <tt>simulator.cfg</tt> in the current directory.

* <tt>--sv</tt> causes the simulator to send data to the <tt>ssl-vision</tt> multicast address. Do not use this on a competition network!

==Limitations==
* Only outputs data for one camera. Ball-occlusion simulation is still done as if there were two cameras.
* No carpet effects such as loss of traction and variable height.
* Only partial simulation of robot status in RadioRx packets.

RoboCup Software

2012-09-19T22:08:19Z

Ehuang: /* Development */

RoboCup Software

2012-09-18T22:46:19Z

Ehuang: /* Agenda */

RoboCup

2012-09-16T07:34:27Z

Ehuang:

[[Image:RoboJacketsRoboCup08_small.png|thumb|420px|right|Our 2008 Robot Drive Base]]

The Georgia Tech RoboJackets RoboCup Small-Size League team competes in a 6-on-6 AI-driven soccer match against teams from around the world. 
The field is equipped with two overhead cameras, which act as the primary information source for the selection of plays and tactics. 
 
If you haven't already, subscribe to the [https://lists.gatech.edu/sympa/subscribe/robojackets-robocup RoboCup Mailing List]. 
 
== Important Items ==
* [http://robocupssl.cpe.ku.ac.th/ RoboCup Small Size League (SSL) Website]
* [[RoboCup_System_Archive|System Archive]]
* [[RC09Brainstorm|Long Term Ideas]]
* [[RoboCup_Docs_GIT_HOWTO|Documents GIT HOWTO]]

== Tutorials ==
=== Electrical ===
* [[RoboCup_Electrical_2013]]
* ECAD
** [http://www.youtube.com/playlist?list=PL81CC6DA215412DD0 How to Use Eagle CAD]
** [[How_to_Guide_Board_Design|PCB Layout Tutorial]]
* Soldering
** [http://www.youtube.com/watch?v=3NN7UGWYmBY Basic Surface Mount Soldering/Desoldering]
** [http://www.youtube.com/watch?v=c_Qt5CtUlqY Hot-Air Soldering]
** [http://www.youtube.com/watch?v=wUyetZ5RtPs Drag Soldering]

=== Mechanical ===
=== Software ===
* [[RoboCup Software 2013]]
* [[RoboCup_Live_Robot_Execution|Manual Drive Control]]
* [[RC13IMU|IMU]]

== Example Matches ==
* [http://www.youtube.com/watch?v=nl9YupK0Y7U SKUBA(blue) vs. ZjuNlict(yellow)]
* [http://www.youtube.com/watch?v=vguuLGDdSnU Parsian(yellow) vs. KIKS(blue)]

== Reference Documents ==
* [[TDP|Team Description Paper (TDP)]]
* [[Research Papers]]
* [[Resources for Learning|General Resources for Learning]]
* [[RCResources|RoboCup-Specific Resources for Learning]]

RoboCup

2012-09-16T07:33:56Z

Ehuang:

[[Image:RoboJacketsRoboCup08_small.png|thumb|420px|right|Our 2008 Robot Drive Base]]

The Georgia Tech RoboJackets RoboCup Small-Size League team competes in a 6-on-6 AI-driven soccer match against teams from around the world. 
The field is equipped with two overhead cameras, which act as the primary information source for the selection of plays and tactics. 
 
If you haven't already, subscribe to the [https://lists.gatech.edu/sympa/subscribe/robojackets-robocup RoboCup Mailing List]. 
 
== Important Items ==
* [http://robocupssl.cpe.ku.ac.th/ RoboCup Small Size League (SSL) Website]
* [[RoboCup_System_Archive|System Archive]]
* [[RC09Brainstorm|Long Term Ideas]]
* [[RoboCup_Docs_GIT_HOWTO|Documents GIT HOWTO]]

== Tutorials ==
=== Electrical ===
* [[RoboCup_Electrical_2013]]
* ECAD
** [http://www.youtube.com/playlist?list=PL81CC6DA215412DD0 How to Use Eagle CAD]
** [[How_to_Guide_Board_Design|PCB Layout Tutorial]]
* Soldering
** [http://www.youtube.com/watch?v=3NN7UGWYmBY Basic Surface Mount Soldering/Desoldering]
** [http://www.youtube.com/watch?v=c_Qt5CtUlqY Hot-Air Soldering]
** [http://www.youtube.com/watch?v=wUyetZ5RtPs Drag Soldering]

=== Mechanical ===
=== Software ===
* [[RoboCup Software 2013]]
* [[RoboCup_Live_Robot_Execution|Manual Drive Control]]

== Example Matches ==
* [http://www.youtube.com/watch?v=nl9YupK0Y7U SKUBA(blue) vs. ZjuNlict(yellow)]
* [http://www.youtube.com/watch?v=vguuLGDdSnU Parsian(yellow) vs. KIKS(blue)]

== Reference Documents ==
* [[TDP|Team Description Paper (TDP)]]
* [[Research Papers]]
* [[Resources for Learning|General Resources for Learning]]
* [[RCResources|RoboCup-Specific Resources for Learning]]

Robocup Software Tasks 2013

2012-09-15T06:41:28Z

Ehuang: /* Overview */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

; AI engine
* Improve the State Machine to support:
** A decision algorithm for choosing plays
** Offensive - Open - Defensive states
** Better continuity in role assignments
* Scripting language
: faster implementation == larger play database
* Dynamically learn other teams plays
: predictive defense etc.
; Logging
* A standardized logging format and logger for SSL
* Run '''soccer''' on log file
: for debugging and testing our ai against opponents
* Calculate latency
: important for passing!
* Recognizing when opponents chip from curvature of ball motion
; Robot plays/behaviors
* 2-robot passing behavior
* one-touch pass kicking
* Yank ball/spin out when scuffling for ball
* Improve goalie
: must clear ball out of defense area, stop charging robots, not be retarded
* Use fullbacks and goalie as a 3 man team
: v formation, move as a unit. fullbacks can stop charging robots
* ... and any other creative strategy!
; Motion
* Improve on board motion control
: faster accel and max speed
* IMU
: wheel slippage, precise kicking, motion feedback
* Drive, line up, and kick a fast moving ball
* Improve path planning
; Radio
* Fix radio to work with 6 robots
; Qt
* Add above tools to GUI
* Streamline interface, ie for real game situations
; Simulator
* Start stop the simulator from soccer
: Read log file -> navigate to frame -> start simulator
* Improve realism of physics

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

Scripting Language

Object representation of a State Machine

File system for scripts

GUI script loader interface

Decision Algorithm + Execution Framework

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. Rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==
Mighty Might - Steven

ChipGoalKick - Rahim

PenaltyKick - Nick

FreeKick - Gana

Persons: Steven, Rahim, Nick, Gana

==Kicking==

LineKick - Vikram

PivotKick - Pratik

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

==IMU precise kicking==

Use IMU to kick at correct angle.

RoboCup Software

2012-09-15T06:41:15Z

Ehuang: /* Tasks */

RoboCup Software

2012-09-15T06:00:43Z

Ehuang: /* Development */

=Overview=
RoboCup Software encompasses all parts of the system that run on a host machine (not the robots). The entire software system is composed both of the components we play soccer and compete with as well as a sort of SDK that allows new components to be written quickly for idea and system testing.

==Agenda==
This is a list of the meeting agendas throughout the semester
* [[Robocup Meeting: Sunday Sep-9-2012]]
* [[Robocup Meeting: Wednesday Sep-12-2012]]
* [[Robocup Meeting: Sunday Sep-16-2012]]

=Tasks=
This is the main list of project ideas/tasks for robocup 2013

[[Robocup Software Tasks 2013]]

; AI engine
* Improve the State Machine to support:
** A decision algorithm for choosing plays
** Offensive - Open - Defensive states
** Better continuity in role assignments
* Scripting language
: faster implementation == larger play database
* Dynamically learn other teams plays
: predictive defense etc.
; Logging
* A standardized logging format and logger for SSL
* Run '''soccer''' on log file
: for debugging and testing our ai against opponents
* Calculate latency
: important for passing!
* Recognizing when opponents chip from curvature of ball motion
; Robot plays/behaviors
* 2-robot passing behavior
* one-touch pass kicking
* Yank ball/spin out when scuffling for ball
* Improve goalie
: must clear ball out of defense area, stop charging robots, not be retarded
* Use fullbacks and goalie as a 3 man team
: v formation, move as a unit. fullbacks can stop charging robots
* ... and any other creative strategy!
; Motion
* Improve on board motion control
: faster accel and max speed
* IMU
: wheel slippage, precise kicking, motion feedback
* Drive, line up, and kick a fast moving ball
* Improve path planning
; Radio
* Fix radio to work with 6 robots
; Qt
* Add above tools to GUI
* Streamline interface, ie for real game situations
; Simulator
* Start stop the simulator from soccer
: Read log file -> navigate to frame -> start simulator
* Improve realism of physics

==Main Programs==
; [[RoboCup Soccer | soccer]] : Everything after vision and before radio happens here.
; [[RoboCup Simulator | simulator]] : Simulates a game environment, including vision and radio
; sslrefbox : The standard SSL referee box for issuing referee commands to all teams
; radio : Radio communication with on-field robots

==Logging Utilities==
; log_viewer : Playback of logged data
; simple_logger : Records vision and referee data just like soccer does, but with no processing.
; convert_tcpdump : Reads vision and referee packets from a tcpdump file and generates a log file. Use with util/log_vision.

=Development=
; [[RoboCup Setup]] : A step by step guide to setting up your new Linux system with our code base.
; [[RoboCup Tips&Tricks]] : Some pointers on how to begin writing and debugging code.
; [[RoboCup GIT HOWTO]] : We currently use Git as our code management system, and this will explain how to acquire and update the code base.
; [[RoboCup Eclipse HOWTO]] : You can use any editor you want, but one useful one is Eclipse. This HOWTO explains how to get an set up eclipse.
; [[RoboCup Compile HOWTO]] : System requirements, dependencies, and using the build tools to compile all of the software.
; [[RoboCup Simulator Execution]] : How to start and configure the simulator and connect to one or two soccer playing modules, as well as the Referee Module
; [[RoboCup Live Robot Execution]] : How to start and run the soccer with actual robots, connect to shared vision, and receive commands from the Referee Module
; [[RoboCup Vision System]] : How to setup the vision system (camera calibration, blob detection, etc.)
; [[Robocup Play Development HOWTO]] : How to create a simple play to get started

=Conventions=
There are a variety of conventions used throughout the code, both to represent soccer-playing, and to maintain consistency in code development.
; [[RoboCup Robot Identification]] : The means by which specific robots and field entities can be identified
; [[RoboCup Field Structure]] : The coordinate systems and their relationship to the field
; [[RC_FieldCamera| Field and Camera Information]] : Specifications on our cameras

[[Category: RoboCup]] [[Category: 2013]]

RoboCup

2012-09-15T00:00:04Z

Ehuang: /* Important Items */

[[Image:RoboJacketsRoboCup08_small.png|thumb|420px|right|Our 2008 Robot Drive Base]]

The Georgia Tech RoboJackets RoboCup Small-Size League team competes in a 6-on-6 AI-driven soccer match against teams from around the world. 
The field is equipped with two overhead cameras, which act as the primary information source for the selection of plays and tactics. 
 
If you haven't already, subscribe to the [https://lists.gatech.edu/sympa/subscribe/robojackets-robocup RoboCup Mailing List]. 
 
== Important Items ==
* [http://robocupssl.cpe.ku.ac.th/ RoboCup Small Size League (SSL) Website]
* [[RoboCup_System_Archive|System Archive]]
* [[RC09Brainstorm|Long Term Ideas]]
* [[RoboCup_Docs_GIT_HOWTO|Documents GIT HOWTO]]

== Tutorials ==
=== Electrical ===
* [[RoboCup_Electrical_2013]]
* ECAD
** [http://www.youtube.com/playlist?list=PL81CC6DA215412DD0 How to Use Eagle CAD]
** [[How_to_Guide_Board_Design|PCB Layout Tutorial]]
* Soldering
** [http://www.youtube.com/watch?v=3NN7UGWYmBY Basic Surface Mount Soldering/Desoldering]
** [http://www.youtube.com/watch?v=c_Qt5CtUlqY Hot-Air Soldering]
** [http://www.youtube.com/watch?v=wUyetZ5RtPs Drag Soldering]

=== Mechanical ===
=== Software ===
* [[RoboCup Software 2013|Software System]]
* [[RoboCup_Live_Robot_Execution|Manual Drive Control]]

== Example Matches ==
* [http://www.youtube.com/watch?v=nl9YupK0Y7U SKUBA(blue) vs. ZjuNlict(yellow)]
* [http://www.youtube.com/watch?v=vguuLGDdSnU Parsian(yellow) vs. KIKS(blue)]

== Reference Documents ==
* [[TDP|Team Description Paper (TDP)]]
* [[Research Papers]]
* [[Resources for Learning|General Resources for Learning]]
* [[RCResources|RoboCup-Specific Resources for Learning]]

RoboCup

2012-09-14T23:59:27Z

Ehuang:

[[Image:RoboJacketsRoboCup08_small.png|thumb|420px|right|Our 2008 Robot Drive Base]]

The Georgia Tech RoboJackets RoboCup Small-Size League team competes in a 6-on-6 AI-driven soccer match against teams from around the world. 
The field is equipped with two overhead cameras, which act as the primary information source for the selection of plays and tactics. 
 
If you haven't already, subscribe to the [https://lists.gatech.edu/sympa/subscribe/robojackets-robocup RoboCup Mailing List]. 
 
== Important Items ==
* [http://small-size.informatik.uni-bremen.de/ RoboCup Small Size League (SSL) Website]
* [[RoboCup_System_Archive|System Archive]]
* [[RC09Brainstorm|Long Term Ideas]]
* [[RoboCup_Docs_GIT_HOWTO|Documents GIT HOWTO]]
* [robocupssl.cpe.ku.ac.th/]

== Tutorials ==
=== Electrical ===
* [[RoboCup_Electrical_2013]]
* ECAD
** [http://www.youtube.com/playlist?list=PL81CC6DA215412DD0 How to Use Eagle CAD]
** [[How_to_Guide_Board_Design|PCB Layout Tutorial]]
* Soldering
** [http://www.youtube.com/watch?v=3NN7UGWYmBY Basic Surface Mount Soldering/Desoldering]
** [http://www.youtube.com/watch?v=c_Qt5CtUlqY Hot-Air Soldering]
** [http://www.youtube.com/watch?v=wUyetZ5RtPs Drag Soldering]

=== Mechanical ===
=== Software ===
* [[RoboCup Software 2013|Software System]]
* [[RoboCup_Live_Robot_Execution|Manual Drive Control]]

== Example Matches ==
* [http://www.youtube.com/watch?v=nl9YupK0Y7U SKUBA(blue) vs. ZjuNlict(yellow)]
* [http://www.youtube.com/watch?v=vguuLGDdSnU Parsian(yellow) vs. KIKS(blue)]

== Reference Documents ==
* [[TDP|Team Description Paper (TDP)]]
* [[Research Papers]]
* [[Resources for Learning|General Resources for Learning]]
* [[RCResources|RoboCup-Specific Resources for Learning]]

RoboCup Software

2012-09-14T21:52:44Z

Ehuang: /* Development */

=Overview=
RoboCup Software encompasses all parts of the system that run on a host machine (not the robots). The entire software system is composed both of the components we play soccer and compete with as well as a sort of SDK that allows new components to be written quickly for idea and system testing.

==Agenda==
This is a list of the meeting agendas throughout the semester
* [[Robocup Meeting: Sunday Sep-9-2012]]
* [[Robocup Meeting: Wednesday Sep-12-2012]]
* [[Robocup Meeting: Sunday Sep-16-2012]]

=Tasks=
This is the main list of project ideas/tasks for robocup 2013

[[Robocup Software Tasks 2013]]

; AI engine
* Improve the State Machine to support:
** A decision algorithm for choosing plays
** Offensive - Open - Defensive states
** Better continuity in role assignments
* Scripting language
: faster implementation == larger play database
* Dynamically learn other teams plays
: predictive defense etc.
; Logging
* A standardized logging format and logger for SSL
* Run '''soccer''' on log file
: for debugging and testing our ai against opponents
* Calculate latency
: important for passing!
* Recognizing when opponents chip from curvature of ball motion
; Robot plays/behaviors
* 2-robot passing behavior
* one-touch pass kicking
* Yank ball/spin out when scuffling for ball
* Improve goalie
: must clear ball out of defense area, stop charging robots, not be retarded
* Use fullbacks and goalie as a 3 man team
: v formation, move as a unit. fullbacks can stop charging robots
* ... and any other creative strategy!
; Motion
* Improve on board motion control
: faster accel and max speed
* IMU
: wheel slippage, precise kicking, motion feedback
* Drive, line up, and kick a fast moving ball
* Improve path planning
; Radio
* Fix radio to work with 6 robots
; Qt
* Add above tools to GUI
* Streamline interface, ie for real game situations
; Simulator
* Start stop the simulator from soccer
: Read log file -> navigate to frame -> start simulator
* Improve realism of physics

==Main Programs==
; [[RoboCup Soccer | soccer]] : Everything after vision and before radio happens here.
; [[RoboCup Simulator | simulator]] : Simulates a game environment, including vision and radio
; sslrefbox : The standard SSL referee box for issuing referee commands to all teams
; radio : Radio communication with on-field robots

==Logging Utilities==
; log_viewer : Playback of logged data
; simple_logger : Records vision and referee data just like soccer does, but with no processing.
; convert_tcpdump : Reads vision and referee packets from a tcpdump file and generates a log file. Use with util/log_vision.

=Development=
; [[RoboCup Tips&Tricks]] : Some pointers on how to begin writing code.
; [[RoboCup GIT HOWTO]] : We currently use Git as our code management system, and this will explain how to acquire and update the code base.
; [[RoboCup Eclipse HOWTO]] : You can use any editor you want, but one useful one is Eclipse. This HOWTO explains how to get an set up eclipse.
; [[RoboCup Compile HOWTO]] : System requirements, dependencies, and using the build tools to compile all of the software.
; [[RoboCup Simulator Execution]] : How to start and configure the simulator and connect to one or two soccer playing modules, as well as the Referee Module
; [[RoboCup Live Robot Execution]] : How to start and run the soccer with actual robots, connect to shared vision, and receive commands from the Referee Module
; [[RoboCup Vision System]] : How to setup the vision system (camera calibration, blob detection, etc.)
; [[Robocup Play Development HOWTO]] : How to create a simple play to get started

=Conventions=
There are a variety of conventions used throughout the code, both to represent soccer-playing, and to maintain consistency in code development.
; [[RoboCup Robot Identification]] : The means by which specific robots and field entities can be identified
; [[RoboCup Field Structure]] : The coordinate systems and their relationship to the field
; [[RC_FieldCamera| Field and Camera Information]] : Specifications on our cameras

[[Category: RoboCup]] [[Category: 2013]]

RoboCup Software

2012-09-14T20:46:16Z

Ehuang: /* Agenda */

=Overview=
RoboCup Software encompasses all parts of the system that run on a host machine (not the robots). The entire software system is composed both of the components we play soccer and compete with as well as a sort of SDK that allows new components to be written quickly for idea and system testing.

==Agenda==
This is a list of the meeting agendas throughout the semester
* [[Robocup Meeting: Sunday Sep-9-2012]]
* [[Robocup Meeting: Wednesday Sep-12-2012]]
* [[Robocup Meeting: Sunday Sep-16-2012]]

=Tasks=
This is the main list of project ideas/tasks for robocup 2013

[[Robocup Software Tasks 2013]]

; AI engine
* Improve the State Machine to support:
** A decision algorithm for choosing plays
** Offensive - Open - Defensive states
** Better continuity in role assignments
* Scripting language
: faster implementation == larger play database
* Dynamically learn other teams plays
: predictive defense etc.
; Logging
* A standardized logging format and logger for SSL
* Run '''soccer''' on log file
: for debugging and testing our ai against opponents
* Calculate latency
: important for passing!
* Recognizing when opponents chip from curvature of ball motion
; Robot plays/behaviors
* 2-robot passing behavior
* one-touch pass kicking
* Yank ball/spin out when scuffling for ball
* Improve goalie
: must clear ball out of defense area, stop charging robots, not be retarded
* Use fullbacks and goalie as a 3 man team
: v formation, move as a unit. fullbacks can stop charging robots
* ... and any other creative strategy!
; Motion
* Improve on board motion control
: faster accel and max speed
* IMU
: wheel slippage, precise kicking, motion feedback
* Drive, line up, and kick a fast moving ball
* Improve path planning
; Radio
* Fix radio to work with 6 robots
; Qt
* Add above tools to GUI
* Streamline interface, ie for real game situations
; Simulator
* Start stop the simulator from soccer
: Read log file -> navigate to frame -> start simulator
* Improve realism of physics

==Main Programs==
; [[RoboCup Soccer | soccer]] : Everything after vision and before radio happens here.
; [[RoboCup Simulator | simulator]] : Simulates a game environment, including vision and radio
; sslrefbox : The standard SSL referee box for issuing referee commands to all teams
; radio : Radio communication with on-field robots

==Logging Utilities==
; log_viewer : Playback of logged data
; simple_logger : Records vision and referee data just like soccer does, but with no processing.
; convert_tcpdump : Reads vision and referee packets from a tcpdump file and generates a log file. Use with util/log_vision.

=Development=
; [[RoboCup GIT HOWTO]] : We currently use Git as our code management system, and this will explain how to acquire and update the code base.
; [[RoboCup Eclipse HOWTO]] : You can use any editor you want, but one useful one is Eclipse. This HOWTO explains how to get an set up eclipse.
; [[RoboCup Compile HOWTO]] : System requirements, dependencies, and using the build tools to compile all of the software.
; [[RoboCup Simulator Execution]] : How to start and configure the simulator and connect to one or two soccer playing modules, as well as the Referee Module
; [[RoboCup Live Robot Execution]] : How to start and run the soccer with actual robots, connect to shared vision, and receive commands from the Referee Module
; [[RoboCup Vision System]] : How to setup the vision system (camera calibration, blob detection, etc.)
; [[Robocup Play Development HOWTO]] : How to create a simple play to get started

=Conventions=
There are a variety of conventions used throughout the code, both to represent soccer-playing, and to maintain consistency in code development.
; [[RoboCup Robot Identification]] : The means by which specific robots and field entities can be identified
; [[RoboCup Field Structure]] : The coordinate systems and their relationship to the field
; [[RC_FieldCamera| Field and Camera Information]] : Specifications on our cameras

[[Category: RoboCup]] [[Category: 2013]]

RoboCup Simulator Execution

2012-09-14T20:45:22Z

Ehuang: /* Starting the Simulator */

The easiest way to get started using the software is to make use of the simulator, which will be most useful for developing much of the actual system. The first scenario will start a simulator with a single robot, and the second scenario will start two teams with referee control.

All of the commands on this page assume you are in the software/run directory.

== Single-team Simulator Use ==
In this case, we will only drive one team. The other team's robots will remain stationary.

=== Starting the Simulator ===
<pre>
./simulator [-c <config file>]
</pre>

If no configuration file is given, it will use default.cfg in the current directory. Currently, default.cfg creates two full teams.

You can kill the simulator with Ctrl-C.

=== Starting one team ===
In another terminal, in the software/run directory:
<pre>
./soccer -sim
</pre>

The status indicator in the upper right corner should be yellow and show SIMULATION.

You can now issue internal referee commands. Either use the shortcut buttons at the top of the window for the most common commands (they have tooltips) or go to the Referee tab for a complete set of commands.

== Starting two teams ==
Start another soccer program exactly like the first one. Don't use the referee buttons yet - the two soccers won't stay in sync.
Set the second soccer to run the blue team (Field -> Team Color -> Blue) and defend the opposite goal (Field -> Defend Goal -> Vision +X).

You must use the SSL referee box to control two soccers at once.

If you are not connected to a network, you must add a multicast route:
<pre>
../util/mcast_route lo
</pre>

You can reverse this later with:
<pre>
../util/mcast_route
</pre>
but the route will typically be removed by your network manager when you get a real network connection.

Now start the SSL referee box:
<pre>
./sslrefbox
</pre>

The referee buttons in both soccers should now be grayed out and the Use external referee checkbox should be checked. If you have previously changed this checkbox manually, you will need to check it.

You can now use the SSL referee box to issue commands to both soccers at once.

Robocup Software Tasks 2013

2012-09-14T20:43:37Z

Ehuang: /* IMU precise kicking */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

Scripting Language

Object representation of a State Machine

File system for scripts

GUI script loader interface

Decision Algorithm + Execution Framework

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. Rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==
Mighty Might - Steven

ChipGoalKick - Rahim

PenaltyKick - Nick

FreeKick - Gana

Persons: Steven, Rahim, Nick, Gana

==Kicking==

LineKick - Vikram

PivotKick - Pratik

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

==IMU precise kicking==

Use IMU to kick at correct angle.

Robocup Software Tasks 2013

2012-09-14T20:42:56Z

Ehuang: /* IMU Setup */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

Scripting Language

Object representation of a State Machine

File system for scripts

GUI script loader interface

Decision Algorithm + Execution Framework

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. Rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==
Mighty Might - Steven

ChipGoalKick - Rahim

PenaltyKick - Nick

FreeKick - Gana

Persons: Steven, Rahim, Nick, Gana

==Kicking==

LineKick - Vikram

PivotKick - Pratik

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-14T20:42:44Z

Ehuang: /* Three wheel drive */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

Scripting Language

Object representation of a State Machine

File system for scripts

GUI script loader interface

Decision Algorithm + Execution Framework

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. Rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==
Mighty Might - Steven

ChipGoalKick - Rahim

PenaltyKick - Nick

FreeKick - Gana

Persons: Steven, Rahim, Nick, Gana

==Kicking==

LineKick - Vikram

PivotKick - Pratik

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-14T20:42:04Z

Ehuang: /* Robot AI */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

Scripting Language

Object representation of a State Machine

File system for scripts

GUI script loader interface

Decision Algorithm + Execution Framework

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. Rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==
Mighty Might - Steven

ChipGoalKick - Rahim

PenaltyKick - Nick

FreeKick - Gana

Persons: Steven, Rahim, Nick, Gana

==Kicking==

LineKick - Vikram

PivotKick - Pratik

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-14T20:41:33Z

Ehuang: /* Logging */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

Scripting Language

Object representation of a State Machine

File system for scripts

GUI script loader interface

Decision Algorithm + Execution Framework

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

Steven , Rahim, Al, Vikram, Pratik, Nick, Steven, Phong, Eric, Andrew, Wade

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==
Mighty Might - Steven

ChipGoalKick - Rahim

PenaltyKick - Nick

FreeKick - Gana

Persons: Steven, Rahim, Nick, Gana

==Kicking==

LineKick - Vikram

PivotKick - Pratik

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-14T20:41:01Z

Ehuang: /* Kicking */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

Scripting Language

Object representation of a State Machine

File system for scripts

GUI script loader interface

Decision Algorithm + Execution Framework

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

Steven , Rahim, Al, Vikram, Pratik, Nick, Steven, Phong, Eric, Andrew, Wade

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==
Mighty Might - Steven

ChipGoalKick - Rahim

PenaltyKick - Nick

FreeKick - Gana

Persons: Steven, Rahim, Nick, Gana

==Kicking==

LineKick - Vikram

PivotKick - Pratik

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-14T20:40:55Z

Ehuang: /* Kicking */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

Scripting Language

Object representation of a State Machine

File system for scripts

GUI script loader interface

Decision Algorithm + Execution Framework

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

Steven , Rahim, Al, Vikram, Pratik, Nick, Steven, Phong, Eric, Andrew, Wade

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==
Mighty Might - Steven

ChipGoalKick - Rahim

PenaltyKick - Nick

FreeKick - Gana

Persons: Steven, Rahim, Nick, Gana

==Kicking==

LineKick - Vikram
PivotKick - Pratik

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-14T20:40:23Z

Ehuang: /* Plays */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

Scripting Language

Object representation of a State Machine

File system for scripts

GUI script loader interface

Decision Algorithm + Execution Framework

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

Steven , Rahim, Al, Vikram, Pratik, Nick, Steven, Phong, Eric, Andrew, Wade

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==
Mighty Might - Steven

ChipGoalKick - Rahim

PenaltyKick - Nick

FreeKick - Gana

Persons: Steven, Rahim, Nick, Gana

==Kicking==

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-14T20:40:06Z

Ehuang: /* Plays */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

Scripting Language

Object representation of a State Machine

File system for scripts

GUI script loader interface

Decision Algorithm + Execution Framework

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

Steven , Rahim, Al, Vikram, Pratik, Nick, Steven, Phong, Eric, Andrew, Wade

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==
Mighty Might - Steven
ChipGoalKick - Rahim
PenaltyKick - Nick
FreeKick - Gana

Persons: Steven, Rahim, Nick, Gana

==Kicking==

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-14T20:39:04Z

Ehuang: /* AI Engine */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

Scripting Language

Object representation of a State Machine

File system for scripts

GUI script loader interface

Decision Algorithm + Execution Framework

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

Steven , Rahim, Al, Vikram, Pratik, Nick, Steven, Phong, Eric, Andrew, Wade

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==

Persons: Steven, Rahim, Nick, Gana

==Kicking==

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-14T20:36:45Z

Ehuang: /* AI Engine */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Eric

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

Steven , Rahim, Al, Vikram, Pratik, Nick, Steven, Phong, Eric, Andrew, Wade

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==

Persons: Steven, Rahim, Nick, Gana

==Kicking==

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-14T20:29:59Z

Ehuang: /* Robot AI */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Brice , Vikram , Pratik, Nick

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

Steven , Rahim, Al, Vikram, Pratik, Nick, Steven, Phong, Eric, Andrew, Wade

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons: Eric, Wade, Andrew

==Fullback==
Scrap the current fullback and redesign a new one, perhaps using the old one as a starting point.

Priority:

Persons: Steven, Brice

==Plays==

Persons: Steven, Rahim, Nick, Gana

==Kicking==

Persons: Vikram, Pratik

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-12T23:29:18Z

Ehuang: /* Motion */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Brice , Vikram , Pratik, Nick

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

Steven , Rahim, Al, Vikram, Pratik, Nick, Steven, Phong, Eric, Andrew, Wade

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons:

=Motion=

Ryan, Al,

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-12T23:27:38Z

Ehuang: /* Robot AI */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Brice , Vikram , Pratik, Nick

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

Steven , Rahim, Al, Vikram, Pratik, Nick, Steven, Phong, Eric, Andrew, Wade

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons:

=Motion=

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-12T23:24:41Z

Ehuang: /* Machine Learning */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Brice , Vikram , Pratik, Nick

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

Brice

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons:

=Motion=

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-12T23:23:08Z

Ehuang: /* Calculate latency */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons: Mark Roberto

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Brice , Vikram , Pratik, Nick

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons:

=Motion=

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-12T23:22:10Z

Ehuang: /* Run soccer from log file */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons: Mark

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons:

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Brice , Vikram , Pratik, Nick

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons:

=Motion=

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-12T23:20:33Z

Ehuang: /* AI Engine */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons:

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons:

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

Brice , Vikram , Pratik, Nick

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons:

=Motion=

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-12T22:14:08Z

Ehuang: /* IMU precise kicking */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons:

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons:

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons:

=Motion=

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==

Robocup Software Tasks 2013

2012-09-12T22:13:50Z

Ehuang: /* IMU Setup */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons:

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons:

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons:

=Motion=

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

Priority:

Persons:

==IMU precise kicking==
The IMU can detect orientation

Robocup Software Tasks 2013

2012-09-12T22:13:11Z

Ehuang: /* Three wheel drive */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons:

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons:

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons:

=Motion=

==Three wheel drive==
* Modify the onboard motion control to support 3 wheel driving

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

==IMU precise kicking==
The IMU can detect orientation

Robocup Software Tasks 2013

2012-09-12T22:11:56Z

Ehuang:

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons:

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons:

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons:

=Motion=

==Three wheel drive==
During real games, robots will often break or become damage. The idea here is to continue driving omni-directionally with 3 wheels because it's possible.

Priority:

Persons:

==IMU Setup==
* Read data from the IMU
* Calibrate and recalibrate the IMU when a robot slips or error has accumulated
* Create some functions for querying IMU information

==IMU precise kicking==
The IMU can detect orientation

Robocup Software Tasks 2013

2012-09-12T22:04:33Z

Ehuang: /* Robot AI */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons:

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons:

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==
Scrap the current goalie and redesign a new one. Here are some tips for the redesign process.

Draw out the state machine for the goalie. What are the different nodes of the machine, i.e. what are the different states the goalie can be in.

Next, figure out how to transition between those states. Under what testable conditions should the goalie go from say covering an area to clearing the ball?

Test your state machine. Will it get stuck in any node? What happens when bad input is given to the system, i.e. SSL Vision cannot see the ball?

Priority:

Persons:

=Motion=

=Bugs=

==Radio not working with 6 robots==

Robocup Software Tasks 2013

2012-09-12T21:58:48Z

Ehuang: /* Robot AI */

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons:

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons:

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

People interested in this part, write up the sub projects here.

=Robot AI=
A rewrite/redesign of these behaviors/positions is recommended. This area of code can be quite nuanced during actual gameplay, and rewriting will make the entire AI system much more transparent and easier to debug.

==Goalie==

==Fullback==

==One Touch Pass Behavior==

=Motion=

=Bugs=

==Radio not working with 6 robots==

Robocup Software Tasks 2013

2012-09-12T21:53:24Z

Ehuang:

=Overview=
This page contains the list of software related tasks/projects/bugs for the 2013 year. People can attach themselves to a project or task by adding their name to the "Persons: " list.

=Logging=

==SSL Standardized Logger and Viewer==
A standardized SSL Logger would be a stand-alone program that will allow logging of RoboCup matches into a standardized logging format. Likewise, the viewer would provide playback of the logged files. This will allow other teams (and us) to share their logs of past RoboCup matches. At the Mexico 2012 competition, the Brazilian team RoboFEI mentioned that they would work with us on this project.

We currently have a good logging system and viewer, but it is in our own format and contains play/robot statues information and the like.

Priority: ~Low

Persons:

==Run '''soccer''' from log file==
Some subgoals for this project:
* Passing in the logged radio packets, vision frame, back into soccer so that we can step our AI through a log file.
* Starting the simulator from the log frame, allowing our AI to run robots in simulation against the opponents' "ghosts", i.e. the opposing team in the logged game.

Priority:

Persons:

==Calculate latency==
There are several different sources of latency in the system:
* From cameras -> SSL Vision -> Soccer
* The cameras are not synchronized
* From Soccer -> Robots
* From Robots -> Soccer
* Code execution in Soccer

The idea is to calculate the various latencies in the system and use those to make more accurate decisions based on predicted ball and robot location.

Priority:

Persons:

==Latency panel in GUI==

Priority:

Persons:

==Calibrating Soccer to recognize fast kicks==
When a robot kicks the ball at 8+m/s, SSL Vision will often lose track of the ball in the first few seconds/milliseconds. The idea here is to fit a curve to ball speed, location, and camera frame in order to generate a predicted ball location. This can help us both execute and defend against passing plays.

Priority:

Persons:

==Recognizing chips from curvature of the ball==
The ball trajectory noticeably curves when robots are chipping during corner kicks. Corner kicks are a high scoring play, and some teams will chip right into your defense area and blitz the goalie.

Priority:

Persons:

=AI Engine=

==Scripting Language==

==Object representation of a State Machine==

==File system for scripts==

==GUI script loader interface==

==Decision Algorithm + Execution Framework==

=Machine Learning=

People interested in this part, write up the sub projects here.

=Robot AI=

==Goalie==

==One Touch Pass Behavior==

=Motion=

=Bugs=

==Radio not working with 6 robots==