Difference between revisions of "RCMeetingMinutes"
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| − | This document represents the results of a meeting held 8/29/08 where the core members discussed plans for the 2009 system. | + | This document represents the results of a meeting held 8/29/08 where the core members discussed plans for the 2009 system. |
| + | All teams will have clearly defined goals and plan to complete said goals | ||
==Team Roadmap== | ==Team Roadmap== | ||
| Line 8: | Line 9: | ||
** Reduce wheel play | ** Reduce wheel play | ||
** Investigate ball sensors? | ** Investigate ball sensors? | ||
| + | * Full size field | ||
| + | ** Goals - with net on top | ||
| + | ** Walls | ||
* "Status Quo" Robots | * "Status Quo" Robots | ||
** Performance Numbers | ** Performance Numbers | ||
| Line 13: | Line 17: | ||
*** Ours | *** Ours | ||
** Complete team by Jan 2009 | ** Complete team by Jan 2009 | ||
| + | * RefBox | ||
* "Fall Classic" with MIT and CMU? - possibly in the Spring? | * "Fall Classic" with MIT and CMU? - possibly in the Spring? | ||
* RoboCup 2009 in Austria | * RoboCup 2009 in Austria | ||
| Line 20: | Line 25: | ||
===General Electrical Features=== | ===General Electrical Features=== | ||
| − | *LiPo Batteries | + | * LiPo Batteries |
| − | *Battery Maintenance/Charging circuitry | + | * Battery Maintenance/Charging circuitry |
| − | **Battery lifetime, charge/discharge estimates, "fuel gauge" | + | ** Battery lifetime, charge/discharge estimates, "fuel gauge" |
| − | *User interface daughter card - serially linked to FPGA | + | * User interface daughter card - serially linked to FPGA |
| − | **LEDs visible outside shell | + | ** Debug LEDs visible outside shell |
| − | **Better access to on switch | + | ** Better access to on switch |
| − | **Serial debug port | + | ** Serial debug port |
| − | **Debug switches | + | ** Debug switches |
===Control Board Features=== | ===Control Board Features=== | ||
| Line 58: | Line 63: | ||
* Lower CG | * Lower CG | ||
** Being able to reliably stop from max speed without flipping - may be impossible | ** Being able to reliably stop from max speed without flipping - may be impossible | ||
| − | * Competitive acceleration and deceleration | + | * Competitive acceleration and deceleration - investigate more powerful motors |
* Smaller drive modules - driven by desire for lower CG and enhanced ball control | * Smaller drive modules - driven by desire for lower CG and enhanced ball control | ||
* Less maintenance of drive module and rollers | * Less maintenance of drive module and rollers | ||
| Line 64: | Line 69: | ||
==Software== | ==Software== | ||
| − | * | + | * Performance parameter extraction and estimation |
| − | ***Ability to switch which side of field | + | * Conformance to all published rules |
| − | + | ** Ability to switch which side of field | |
| − | + | * Burin / stress testing | |
| − | + | * World model / data filtering / prediction | |
| − | + | ** Probabilistic sensing | |
| − | + | * Integration/communication | |
| − | + | * Timing/Profiling of how our system works | |
| − | + | * Motion control | |
| − | + | ** Calibration | |
| − | + | * SW test for hardware performance | |
| − | + | * Use tech challenges as a springboard | |
| − | + | * Improved path planner | |
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | * | ||
[[RoboCup]] | [[RoboCup]] | ||
Revision as of 15:53, 10 September 2008
This document represents the results of a meeting held 8/29/08 where the core members discussed plans for the 2009 system. All teams will have clearly defined goals and plan to complete said goals
Contents
Team Roadmap
- Document our system
- Testing
- Design document
- Refurbish 2008 robots so software can develop
- Reduce wheel play
- Investigate ball sensors?
- Full size field
- Goals - with net on top
- Walls
- "Status Quo" Robots
- Performance Numbers
- Theirs
- Ours
- Complete team by Jan 2009
- Performance Numbers
- RefBox
- "Fall Classic" with MIT and CMU? - possibly in the Spring?
- RoboCup 2009 in Austria
Status Quo Features
The features described below for the most part represent features which must be added to the current system to make them "status quo" robots.
General Electrical Features
- LiPo Batteries
- Battery Maintenance/Charging circuitry
- Battery lifetime, charge/discharge estimates, "fuel gauge"
- User interface daughter card - serially linked to FPGA
- Debug LEDs visible outside shell
- Better access to on switch
- Serial debug port
- Debug switches
Control Board Features
- Bugfix and remake of 2008 boards (see 2.0 Board Errata)
- Will keep motor driver circuitry
- New ARM
- Possible serial interface between FPGA and ARM
- Encoder interface circuitry
- New radios
- Smaller, cheaper, in an emptier area of the spectrum
Ball Control (mechanical and electrical) Features
- Exceed regulation kicking speed - then dial it back
- Chipper
- Refresh kicker circuitry
- Use same charge controller
- Measure charge voltage
- Add support for chipping
- (Probably) add capacitance
- Meet status quo charging time - present circuitry will probably be able to do it, LiPos will help
- Investigate alternate trigger silicon
- Reliable and robust Ball sensor
- Custom chipping and kicking solenoids
- Powerful, reliable dribbler
Drivetrain
- Feedback with encoders
- Tweaked out control - see software section
- Lower CG
- Being able to reliably stop from max speed without flipping - may be impossible
- Competitive acceleration and deceleration - investigate more powerful motors
- Smaller drive modules - driven by desire for lower CG and enhanced ball control
- Less maintenance of drive module and rollers
- Increased ground clearance
Software
- Performance parameter extraction and estimation
- Conformance to all published rules
- Ability to switch which side of field
- Burin / stress testing
- World model / data filtering / prediction
- Probabilistic sensing
- Integration/communication
- Timing/Profiling of how our system works
- Motion control
- Calibration
- SW test for hardware performance
- Use tech challenges as a springboard
- Improved path planner
