team612 / 612-2023-charged-up Goto Github PK

Requirements:

• Alignment with arm
• Testing range of LED's with vision tape
• Fine tuning for scoring

Requirements:

• LEDs
• 360 degree servo for camera
• IMU testing

L readme

Goal:

• Create a system for determining the location of the robot, with x and y position, and the orientation θ of the robot, in order to find the exact position of the robot on the field at any time. This system should work in any field, meaning it needs to use the data from the robot sensors and camera and not prior knowledge of the field.

Tasks:

• Find data from 3 sensors (IMU + encoder, and AprilTags)
• Kalman filter

Links:

• https://digital.wpi.edu/pdfviewer/n296x089m

• https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/index.html

• https://file.tavsys.net/control/controls-engineering-in-frc.pdf

• https://www.kalmanfilter.net/background.html

• https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python

• https://docs.photonvision.org/en/latest/docs/examples/simaimandrange.html

Requirement:

• Button to automatically score from where you are
• Robort Localization(Creating a field to show drivers where the robot is in the field)
• Autobalance in teleop
• Decision trees and state machines
• Sensor fusion for pose estimation

Requirements and Constraints:

• Robot must be characterized.
• kS, kV, kA (feedforward gains) must be tuned properly
• kP, kI, kD (velocity gains) must be tuned properly
• kP, kI, kD (position gains) must be tuned properly
• The robot must move autonomously accurately
• The robot must rotate autonomously accurately
• Odometry should be updated by encoders on the mecanum.

Requirements:

• Press button to align robot with April Tag
• Determine camera placements
• Fully test trajectories with vision (finish tuning, measure)
• Start up with beagle bone
• Updating drivetrain odometry with vision position
• Triangulating with 2 April Tags

Requirements and Constraints:

• 3-5 seconds max routine (this includes driving up the ramp)
• No prolonged oscillation when balancing
• Polycarb must be tested before merging
• Should continuously balance even after engaging