Candi

From RoboJackets Wiki
Revision as of 16:21, 30 June 2019 by Cloyd6 (talk | contribs) (Software Issues & Improvements)
Jump to navigation Jump to search
Candiii
[[]]
Year Of Creation 2006-2007
Versions
Current Version deprecated
Update Year 2007-2008, 2008-2009
Information and Statistics
Farthest Distance 235 feet
Fastest Time n/a
Highest Placement AutoNav 6th
Highest Placement Design 9th

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:
    • Distance: 235 feet
    • Design Competition Placement: 21st (476.67 / 1100 points)
    • AutoNav Competition Placement: 6th

Versions

Candi (V1.0)

At Competition

Mechanical Issues & Improvements

Current design of Candi Frame


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

A map of Candi's systems.

Software Issues & Improvements

PlayerStage

Candi's process diagram.

Code from Graduate Students - Restricted access (must be logged in to access)

There are two perspective transforms that need to be implemented, the rectilinearizing transform and the planar perspective transform.

  • Rectilinearizing Transform
  • Simple in theory. Very hard to make work fast though. I have posted preliminary MATLAB code and am hoping to use vertex shaders to speed processing and autofill data gaps, but I don't know what hardware is available at the moment or how to write Cg.
  • Scratch that, I have an OpenGL version working in C so the MATLAB one is unnecessary. Right now the OGL app is stand alone and only works on pictures named "pic.bmp" that are a 720x480 image in the bottom left corner of a 24bit 1024x1024 bmp image. Included is the Cygwin makefile(should work on any system with glut in $INCLUDE but give a warning), the pic.bmp test image, and source. Press any key to quit the program. The source code is massive, so a good text editor will be needed to edit.
  • Planar Perspective Transform: Version 1.0
    Very simple and fast if data given in a convenient format. In development, I will post when I have a semistable implementation.
  • HOLY SH*T!!!
    I went to the railroad today, took a picture with the camera, and dvgrabbed it back home.
    I was going to do some math and such, but then I thought, "What the hell, lets see what happens if I just stick it into the transform..." and LOOK WHAT I SAW!:

Rail In.jpg--->Rail Out.jpg

  • OGMWTFBBQ&HOW!
    I knew it was good, but that is amazing!--Paul 11:32, 20 May 2007 (EDT)

Candii (V2.0)

At Competition

Mechanical Issues & Improvements

Electrical Issues & Improvements

Diagram showing the flow of data between the various robot controller components

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

Additional Information

Team Members

Gallery