Difference between revisions of "RCMeetingMinutes"
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| Line 17: | Line 17: | ||
==Status Quo Features== | ==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=== | ===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 | + | *User interface daughter card - serially linked to FPGA |
**LEDs visible outside shell LEDS | **LEDs visible outside shell LEDS | ||
**Better access to on switch | **Better access to on switch | ||
| Line 32: | Line 34: | ||
** New ARM | ** New ARM | ||
** Possible serial interface between FPGA and ARM | ** Possible serial interface between FPGA and ARM | ||
| + | ** Encoder interface circuitry | ||
* New [[RoboCup_Radio_2009|radios]] | * New [[RoboCup_Radio_2009|radios]] | ||
** Smaller, cheaper, in an emptier area of the spectrum | ** Smaller, cheaper, in an emptier area of the spectrum | ||
===Ball Control (mechanical and electrical) Features=== | ===Ball Control (mechanical and electrical) Features=== | ||
| − | * Measure charge voltage | + | * Exceed regulation kicking speed - then dial it back |
| − | * Add support for chipping | + | * Chipper |
| − | * | + | * Refresh kicker circuitry |
| − | * [[RC09BallSense|Ball sensor]] | + | ** 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 [[RC09BallSense|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 | |
| − | + | * Smaller drive modules - driven by desire for lower CG and enhanced ball control | |
| − | + | * Less maintenance of drive module and rollers | |
| − | * | + | * Increased ground clearance |
| − | + | ==Software== | |
***Parameter extraction and estimation | ***Parameter extraction and estimation | ||
***Ability to switch which side of field | ***Ability to switch which side of field | ||
Revision as of 16:47, 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.
Contents
Team Roadmap
- Document our system
- Testing
- Design document
- Refurbish 2008 robots so software can develop
- Reduce wheel play
- Investigate ball sensors?
- "Status Quo" Robots
- Performance Numbers
- Theirs
- Ours
- Complete team by Jan 2009
- Performance Numbers
- "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
- LEDs visible outside shell LEDS
- 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
- Smaller drive modules - driven by desire for lower CG and enhanced ball control
- Less maintenance of drive module and rollers
- Increased ground clearance
Software
- Parameter extraction and estimation
- Ability to switch which side of field
- Burin tests/stress
- 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
All teams will have clearly defined goals and plan to complete said goals
- General
- More practice time
- Make a real field
- Goals
- Walls
- Location
- RefBox
- General
- New Prototypes
