because most of the team took the Sunday off to finish it…which sounds like a smart decision in hindsight because I do have quite a lot left to finish tonight. Whoops! On the other hand, programming did get stuff done (Shifrah, Katherine, and mentors Stephen and Emma). We added to the autonomous code so that the arm goes up once the robot reaches the Twor (the robot would know that it reached the T by using the line tracker/ light sensor provided in the KoP). Afterward, we tried to get the ultrasonic sensor working in the case that the robot does not have space to extend the arm upwards when positioned at the T; the ultrasonic sensor would basically tell us when the robot was far too close to the wall for comfort, and therefore tell the us when the robot should back up a bit. Unfortunately, the ultrasonic sensor did not work properly as it kept spitting out 0.0 as the distance to the nearest object. After we Chief Delphi’ed the problem, we realized that the Parallax brand sensor didn’t interface with FRC code as easily as some other sensors from different brands. (Time for another shopping trip!)
Then we had a lunch break…Unlike Saturday’s conversation on genetic cloning (Victoria: “So should we have a philosophical discussion on cloning?”), it was more AWAH, “would you rather,” and showing off gymnastic, juggling, and Rubik’s Cube talents (apparently, Emma keeps a Rubik’s Cube in her purse for those pesky traffic jams).
After lunch, we brought all the files from the various laptops together on Silverado and tried to make sense of the Gyro values. At first, the Gyro kept spitting out multiples of 7 for each timestep, even when the gyro was left alone. However, some Chief Delphi’ing allowed us to realize that leaving the Gyro still when it is first enabled allows it to calibrate itself, and so after leaving it be for a couple of seconds, it was a little more accurate. As far as we know, the gyro is kind of accurate. Meh.
Summary of what has been finished: first draft code for driving (plans to add PID if the robot does not strafe smoothly); first draft code for lifting or lowering parts of the arm to specific heights and manual override control of these arm parts; first draft code for having the robot follow the line until the T …First drafts because none of this code has been loaded onto the actual robot…But it will soon…like couple of days soon! Great job everyone!