Killer Autonomous Programming

1
Killer Autonomous Programming

• Make um say Wow!
• Presented By
• Frank Larkin
• Lansdale Catholic Robotics, Team 272
• FIRST Championships Forum, Atlanta Georgia April,
  2005

2
Autonomous Program Development Cycle
Joy ?
A brief moment of optimism usually followed by a
crushing downfall! Warning DO NOT BE FOOLED!
Pain ?
Time Lots Of It!
3
Topics

• Big Al says
• They put it there for you to use!
• Where does your code go?
• defines can be fun!
• The OI Panel LEDs
• Competition Mode
• Autonomous Setup
• Define Your Steps
• Virtual Operator
• The Autonomous Program
• Using Encoders
• The Gyro Chip is my Friend!
• 2005 Programs
• Fly By Wire System

4
Big Al says
5
They put it there for you to use!

• Use whatever field objects you can to guide you.
• Walls can be run along.
• Shoes set to glide below obstacles
• Large bearings can easily run along walls or
  rails.
• Read the rules very carefully to make sure your
  hardware solution is legal and will work.
• If all else fails
• Hold breathe until you turn blue
• Suggest W W W S!
• Write a position paper
• If you must, write software! ?

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Where They Want You To Put Your Code!

• The Default FRC Code strongly suggests that you
  keep your Autonomous Code separatebut do you?
• while (1) / This loop will repeat
  indefinitely. /
• ifdef _SIMULATOR
• statusflag.NEW_SPI_DATA 1
• endif
• if (statusflag.NEW_SPI_DATA) / 26.2ms
  loop area /
• / I'm slow! I only execute every 26.2ms
  because /
• / that's how fast the Master uP gives me
  data. /
• Process_Data_From_Master_uP() / You edit
  this in user_routines.c /
• if (autonomous_mode) / DO NOT CHANGE!
  /
• User_Autonomous_Code() / You edit
  this in user_routines_fast.c /

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A Better Way!

• Make your autonomous code part of your normal
  code. Yes change where they said DO NOT CHANGE!
• while (1) / This loop will repeat
  indefinitely. /
• ifdef _SIMULATOR
• statusflag.NEW_SPI_DATA 1
• endif
• if (statusflag.NEW_SPI_DATA) / 26.2ms
  loop area /
• / I'm slow! I only execute every 26.2ms
  because /
• / that's how fast the Master uP gives me
  data. /
• Process_Data_From_Master_uP() / You edit
  this in user_routines.c /
• Process_Data_From_Local_IO() / You edit
  this in user_routines_fast.c /
• / I'm
  fast! I execute during every loop./
• / while (1) /

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MYProcess_Data_From_Master_uP()

• void Process_Data_From_Master_uP(void)
• Getdata(rxdata) / Get fresh data from the
  master microprocessor. /
• LC_Main()
• Generate_Pwms(pwm13,pwm14,pwm15,pwm16)
• Putdata(txdata) / DO NOT CHANGE! /

Get the data from the external inputs
Process Them (LC_Main)
Put the data to the outputs
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LC_Main()

• void LC_Main(void)
• int_TimeCount
• ShutOffAllLEDs()
• PreCompetitionSetup()
• AutonomousOperation()
• NormalOperation()
• void PreCompetitionSetup()
• unsigned int uint_GyroValue
• if( competition_mode ! TRUE )
• return
• // rest of pre-comp code below here

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Horsepower 2004
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Control Inputsdefine Declarations

• Declarations make it easy to read and follow.
  Also they can be used by their normal reference
• // Joy sticks and Wheels
• define pot_TowerWinch p1_y
• define pot_TowerTilt p2_y
• define pot_LeftDriverJoystick p3_y
• define pot_RightDriverJoystick p4_y
• define pot_AutTimer1 p1_wheel // used to
  determine how far
• // robot goes to goal
• define pot_GoalClaw p2_wheel
• // Switches
• define SWITCH_OPEN 0
• define SWITCH_CLOSED 1
• define swt_RightArmDeploy p1_sw_trig
• define swt_RightArmRetract p1_sw_top
• define swt_LeftArmDeploy p2_sw_trig

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Autonomous Programdefine Declarations

• Declaration make it easy to read and follow
• define C_AUT_FIRST_PROGRAM 0
• define C_AUT_NO_PROGRAM 0 // do nothing
• define C_AUT_GOAL_RETRIEVE 1
• define C_AUT_HIT_BALL 2
• define C_AUT_DEFAULT_PROGRAM 2
• define C_AUT_LAST_PROGRAM 2
• define C_AUT_STEP_PULL_BACK_GOAL 90
• define C_AUT_LAST_STEP 99
• define C_AUT_POWER_GO_SLOW_TO_GOAL 140
• define C_AUT_POWER_TILT_UP 255
• define C_AUT_POWER_WINCH_UP 255

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The OI Panel LEDs

• Maim.h definition
• /
  
• OI LED DEFINITIONS
• 
  /
• define LED_ON 1
• define LED_OFF 0
• define LED_OI_0 txdata.LED_byte1.bitselect.bit1
• define LED_OI_1 txdata.LED_byte1.bitselect.bit0
  
• define LED_OI_2 txdata.LED_byte1.bitselect.bit3
• define LED_OI_3 txdata.LED_byte1.bitselec
  t.bit2
• define LED_OI_4 txdata.LED_byte1.bitselect.
  bit4
• define LED_OI_5 txdata.LED_byte1.bitselect.bi
  t5
• define LED_OI_6 txdata.LED_byte1.bitselect.
  bit6
• define LED_OI_7 txdata.LED_byte1.bitselect.bi
  t7
• define LED_OI_8 txdata.LED_byte2.bitselect.b
  it0
• define LED_OI_9 txdata.LED_byte2.bitselect.b
  it1
• define LED_OI_10 txdata.LED_byte2.bitselect.b
  it2

0
1
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Competition Mode

• In Competition mode OI inputs will work. These
  can be used to
• Set your Autonomous Mode
• Center your Joysticks
• Test your sensors
• Set delay timers

Yellow Light
15
Competition Mode

• In Competition mode OI inputs will work. These
  can be used to
• Center your Joysticks
• Test Your sensors
• Set Your Autonomous Mode
• Set delay timers

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Autonomous SetupFunction PreCompetitionSetup

• void PreCompetitionSetup()
• unsigned int uint_GyroValue
• if( competition_mode ! TRUE )
• return
• int_TimeCount 0
• byt_CounterToGoal pot_AutTimer1_IN
• // set the autonomous program mode
• if( p1_sw_trig SWITCH_CLOSED )
• if( p1_sw_top SWITCH_OPEN )
• byt_ButtonWasPressed FALSE
• if( p1_sw_top SWITCH_CLOSED
• byt_ButtonWasPressed FALSE )

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Function PreCompetitionSetupSelecting You Auto
Program

• switch( byt_AutonomousProgram )
• case C_AUT_GOAL_RETRIEVE
• LED_OI_1 LED_ON
• break
• case C_AUT_HIT_BALL
• LED_OI_2 LED_ON
• break
• case C_AUT_TURN_AROUND_ON_LEFT_SIDE
• LED_OI_2 LED_ON
• break
• case C_AUT_TURN_AROUND_ON_RIGHT_SIDE
• LED_OI_3 LED_ON
• break
• case C_AUT_GO_NEAR_ON_RIGHT_SIDE

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Function PreCompetitionSetup Centering Your
Controls

• else if( p2_sw_trig SWITCH_CLOSED )
• if(user_display_mode TRUE) /User Mode is On
  /
• txdata.LED_byte1.data byt_CounterToGoal
• else // normal mode in precompetiiton setup is
  to zero the axis of joy stick
• if( p1_y gt 126 )
• LED_OI_0 LED_ON
• if( p1_y lt 128 )
• LED_OI_1 LED_ON
• if( p2_y gt 126 )
• LED_OI_2 LED_ON
• if( p2_y lt 128 )
• LED_OI_3 LED_ON

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Function PreCompetitionSetup Centering Your
Controls

• else if( p2_sw_trig SWITCH_CLOSED )
• if(user_display_mode TRUE) /User Mode is On
  /
• txdata.LED_byte1.data byt_CounterToGoal
• else // normal mode in precompetiiton setup is
  to zero the axis of joy stick
• if( p1_y gt 126 )
• LED_OI_0 LED_ON
• if( p1_y lt 128 )
• LED_OI_1 LED_ON
• if( p2_y gt 126 )
• LED_OI_2 LED_ON
• if( p2_y lt 128 )
• LED_OI_3 LED_ON

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Function PreCompetitionSetupChecking Other Stuff

• // test and set the gyro chip
• uint_GyroValue Get_Analog_Value(ana_GyroChip_IN
  )
• if( int_GyroNormalSetting 0 uint_GyroValue
  gt 500 )
• int_GyroNormalSetting uint_GyroValue
• if( uint_GyroValue gt
• int_GyroNormalSetting - C_GYRO_RANGE
• uint_GyroValue lt int_GyroNormalSetting
  C_GYRO_RANGE )
• LED_OI_8 LED_ON
• if( dig_Banner_Sees_Line_IN DIGITAL_HIGH )
• LED_OI_9 LED_ON
• //Tower Winch is Going Down
• if( dig_TowerCableLoose_IN DIGITAL_LOW )
• LED_OI_10 LED_ON

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Function PreCompetitionSetupAutonomous Delay

• Why use a delay?
• Allow alliance to go first.
• Keep them out of your way.
• Delay set like program selection.
• Set in 2 second increments
• Clock starts when autonomous period begins.
• Display counts down to allow CBUs to feel warm
  and fuzzy that it is all working.

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Function PreCompetitionSetupAutonomous Delay

• Why use a delay?
• Allow alliance to go first.
• Keep them out of your way.
• Delay set like program selection.
• Set in 2 second increments
• Clock starts when autonomous period begins.
• Display counts down to allow CBUs to feel warm
  and fuzzy that it is all working.

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Define Your Steps

• Clearly Define what you want to do
• 0) As you do steps below tilt up, then raise
  tower.
• 1) Drive at 45 degree angle to side bar of field.
• 2) Run along wall on shoe on right side of robot.
• 3) As you pass over white line fire arm to hit
  ball and stop. Leave arm out.
• 4) Backup a little to avoid hitting other ball
  and close arm

1
3,4
2
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Horsepower 2004
25
The Virtual Operator Concept

• In Autonomous Mode controls are set to neutral
  positions
• buttons set to 0
• joysticks set to 127 or center
• But variables still exist!!!!!!
• Your Autonomous Functions can set these so they
  can be processed by your normal code as if an
  operator were doing the work.
• This eliminates special code for autonomous
  operations.
• Makes code flow much cleaner
• Uses less variable space

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Autonomous Operation

• void AutonomousOperation()
• if( autonomous_mode ! TRUE )
• byt_AutoState 0
• byt_AutoSearchState 0
• return
• // stop all movement if there is any.
• // actions will be set in the
• // autonomous code if it needs to be
• pot_TowerWinch_IN C_POWER_STOP
• pot_TowerTilt_IN C_POWER_STOP
• pot_LeftDriverJoystick_IN C_POWER_STOP
• pot_RightDriverJoystick_IN C_POWER_STOP
• swt_RightArmRetract_IN SWITCH_CLOSED

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AutoHitBall()Part 0 Postion Tower

• void AutoHitBall()
• // do this independent of what state we are in
• // tilt up first to allow arm to clear
• if( int_TiltCount lt C_AUT_COUNT_TILT_UP )
• pot_TowerTilt C_AUT_POWER_TILT_UP
• int_TiltCount
• else if( int_WinchCount lt C_AUT_COUNT_WINCH_UP
  )
• pot_TowerWinch C_AUT_POWER_WINCH_UP
• int_WinchCount

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Autonomous ProgramPart 1 The State Machine

• We use an integer to tell us what state we are
  in. This tells us what part of the code to
  process.
• switch( byt_AutoState )
• case 0 // Initialization of this state
• int_TimeCount 0
• byt_AutoState
• case 1 // drive straight towards side
• pot_LeftDriverJoystick_IN 12764
• pot_RightDriverJoystick_IN 12764
• if( int_TimeCount gt 20 )
• int_TimeCount 0 // reset for
  next state
• byt_AutoState // bump to
  next state
• break

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Autonomous ProgramPart 2 Timer Based Actions

• We keep doing one thing until the counter is
  exceeded then do another or bump the state
• case 2 // run to the side
• swt_GyroNavigate TRUE
• pot_LeftDriverJoystick 12764
• pot_RightDriverJoystick 12764
• if( int_TimeCount gt 150 )
• LED_OI_8 LED_ON // tell CBUs we are
  working
• if( dig_Banner_Sees_Line DIGITAL_HIGH )
• swt_RightArmDeploy
  SWITCH_CLOSED
• pot_LeftDriverJoystick
  C_POWER_STOP
• pot_RightDriverJoystick
  C_POWER_STOP
• int_TimeCount 0 // reset
  timer byt_AutoState // bump
  to next state

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Autonomous ProgramPart 3 Stop And Settle

• Inertia can cause all kinds of problems.
  Sometimes you must stop and wait a little for the
  robot to come to a full stop.
• case 3 //stop
• swt_RightArmDeploy SWITCH_CLOSED
• pot_LeftDriverJoystick C_POWER_STOP
• pot_RightDriverJoystick C_POWER_STOP
• if( int_TimeCount gt 30)
• int_TimeCount 0 // reset the timer state
• byt_AutoState // bump to next state
• break

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Autonomous ProgramPart 4 Stop And Settle

• Last two states for this program
• case 4 //back up
• // keep arm deployed to keep it from hitting
  other ball
• swt_RightArmDeploy SWITCH_CLOSED
• pot_LeftDriverJoystick 60
• pot_RightDriverJoystick 60
• swt_GyroNavigate TRUE
• if( int_TimeCount gt 40)
• int_TimeCount 0 // reset the timer
  for next state
• byt_AutoState C_AUT_LAST_STEP // set
  last state
• break
• case C_AUT_LAST_STEP // STOP AND CLOSE
• default

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Using Encoders

• Use Optical sensor on Encoder wheel to determine
  how far you have gone.
• Create encoder wheel mask with program
  Encoder_design.exe free on Internet
  (http//mirror.optusnet.com.au/sourceforge/r/ro/ro
  ssum/)

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Encoder Masks
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Encoder Placement

• Place on wheel, gear, freshman..whatever rotates
  that you want to measure.
• For best accuracy place on part that rotates the
  most.
• More rotations more accuracy
• Use 2, one left side one right.
• Create DIRECTION variable when left sensor
  changes subtract 1, when right changes add 1. If
  Direction 0 you are going straight.

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Encoder Placement

• Place on wheel, gear, freshman..whatever rotates
  that you want to measure.
• For best accuracy place on part that rotates the
  most.
• More rotations more accuracy
• Use 2, one left side one right.
• Create DIRECTION variable when left sensor
  changes subtract 1, when right changes add 1. If
  Direction 0 you are going straight.

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Untested EncoderCode Example

• main.h
• uint compass 5000
• uint direction compass
• uint left_last_state 0
• uint right_last_state 0
• define left_sensor rc_dig_in01
• define right_sensor rc_dig_in02
• normal.c
• // going forward only
• if( left_sensor ! left_last_state )
• direction--
• if(right_sensor ! right_last_state )
• direction
• if( direction lt compass )
• adjust_power_to_left()

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Encoder Issues

• Adjusting power may mean reducing power on side
  you want to turn to.
• Wheel Slip Gunning motors may make wheels slip
  causing sensors to count without moving. Ramp up
  speed.
• Rotation speed Too fast and counter may not
  keep up.
• What happens if I change the compass?
• Use the Force Luke!
• Always think what is happening.
• All problems can and should be explained.

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The Gyro Chip

• A solid state Gyroscope. Indicates that we are
  tuning and how hard.
• Analog Input
• Must use Get_Analog_Value function to retrieve it
• Number at rest is around 536.
• Do Not Hard Code
• Turn left number raises
• Turn right number decreases
• Shock mount unit
• Use with caution because a 130 lb. robot can
  cause damage. Especially to you.

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The Gyro Chip

• During Competition Mode read Chip to set
  at_rest_value
• Then set an at_rest_high (4) and at_rest_low (-
  4)
• When sensing determine..
• if lt at_rest_high (left)
• If gt at_rest_low (right)
• Difference is amount or severity of turn
• Add or subtract to virtual compass. This
  indicates direction you are going.

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The Gyro ChipExample

• main.h
• define straight 10000
• uint compass straight
• uint gyro_value 0
• uint gyro_normal 0
• uint gyro_high 0
• uint gyro_low 0
• uint gyro_diff0
• precompetition.c
• gyro_normal Get_Analog_Value(rc_ana_in01)
• gyro_high gyro_ normal 4
• gyro_low gyro_ normal -4
• normal.c
• gyro_value Get_Analog_Value(rc_ana_in01)
• if(gyro_value lt gyro_high )

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2005 Programs

• One program (8 in 1) that can move from any start
  position to any loading zone.
• Same program just change a few variables to go
  different places
• Uses encoders to know how far we have gone.
  Encoders are calibrated in inches.
• Uses automatic positioning of arm to put claw in
  best position for loading.
• Second program loads a tetra on to side goal.

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Fly By Wire System

• Tower uses potentiometers to know tilt and winch
  positions.
• Single turn pot for tilt
• 10 turn pot for tower winch
• Operator pushes button to position tower.
• Selectors for start position, tertas on robot and
  goal
• Automatically repositions as we drive.

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Fly By Wire System
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Final Thought

• Unlike baseball crying is allowed in software
  development but
• when your done, get back and make it work!