Difference between revisions of "Candi"
m (→IGVC 2007) |
m (→IGVC 2008) |
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*Results: | *Results: | ||
** Distance: 185 feet | ** Distance: 185 feet | ||
| − | ** Design Competition Placement: 18th (778.33 / 1100) | + | ** Design Competition Placement: 18th (778.33 / 1100 points) |
** AutoNav Competition Placement: 9th | ** AutoNav Competition Placement: 9th | ||
Revision as of 13:21, 27 June 2019
| Candiii | |
|---|---|
| [[]] | |
| Year Of Creation | 2006-2007 |
| Versions | |
| Current Version | deprecated |
| Update Year | 2007-2008, 2008-2009 |
| Information and Statistics | |
| Farthest Distance | |
| Fastest Time | |
| Highest Placement AutoNav | |
| Highest Placement Design | |
Contents
Competitions
IGVC 2007
- Bot Version: Candi
- Results
- Distance: 123 feet
- Design Competition Placement: 9th (743 / 1100 points)
- AutoNav Competition Placement: 7th
IGVC 2008
- Bot Version: Candii
- Results:
- Distance: 185 feet
- Design Competition Placement: 18th (778.33 / 1100 points)
- AutoNav Competition Placement: 9th
IGVC 2009
- Bot Version: Candiii
- Results:
- Time:
- Design Competition Placement:
- AutoNav Competition Placement:
Versions
Candi (V1.0)
At Competition
Mechanical Issues & Improvements
Old BattleBots motors.
A new frame is currently being fabricated from 1" square tubing.
New body will have front suspension and a giant ball caster in the rear.
Electrical Issues & Improvements
- Router
- Monitor
- Environmental Data Acquisition System
- Positioning System
- Mapping and Path-finding System
- Power System
- Motor System
- Emergency Stop System
Software Issues & Improvements
Code from Graduate Students - Restricted access (must be logged in to access)
Candii (V2.0)
At Competition
Mechanical Issues & Improvements
Electrical Issues & Improvements
Needs correction:
- GPS communicates over COM2(/dev/ttyS1)
- Time server (NTP) runs on the TS board reading the Data Carrier Detect (DCD) line of COM2
- Add: TS Board is running an NTP server to define robot time
- Software modules should be included
- Rename "Arduino" -> "Motor Arduino"
- Add "Power Arduino"
- Fix: Wheel Encoders will be communicating over SPI
Software Issues & Improvements
Our code for this year is stored in Subversion and is accessible at https://svn.robojackets.org/igvc/2008. The laptop codebase will be written in C++.
Contributers to the laptop codebase should ensure that they are following our coding conventions.
Player/Stage:
We are using the Player/Stage robot server as the communication layer between our device drivers and our processing/controlling software modules.
As we've used the Player server, occasionally we've needed to patch it to better suit our needs. Below are our custom patches:
Candiii (V3.0)
At Competition
Mechanical Issues & Improvements
Candiii's body has remained essentially the same for the last 2 years.
Electrical Issues & Improvements
Candiii has two isolated power systems: one for the motors and one for the other electronics.
Other Electronics:
- Camera
- LIDAR
- IMU
- GPS
- Compass
- Motor encoders
- Motor currents
Software Issues & Improvements
Localization and Mapping:
Controls:
- PI-Lead control(?)
- Joystick
