Introduction
-This is the official documentation for FTC Team 23511, the Seattle Solvers.
-Please note: while this mdBook is open-source, there is no guarantee that any pull requests/issues will be addressed or merged.
-Odometry Testing
-Environment:
--
-
- Latest FIRST Tech Challenge Field Soft Tiles
-
-
-
- Lightly used (1 season) -
- Vacuumed before each new odometry system used -
- - No game elements (trusses, stage door, backdrop, etc.) -
- Wood floor and tarp underneath field -
--Environment does not change or get moved between tests!
-
-
Hardware:
--
-
- Strafer® Chassis Kit V5 - goBILDA® - all parts lightly used for 1 season or less with no effects to performance
-
-
-
- Only modification of 435 RPM goBILDA® motors -
- Same goBILDA® MOD 1.25 30 tooth gears as what come in the kit -
- Added weights at the center of the robot until robot weighs 25 lbs -
- All screws have red loctite applied to them to keep robot rigid between tests -
- - “New” Control Hub
-
-
-
- Both IMUs available and tested individually for 2 wheel testing -
- Internal BHI260AP IMU -
- External BNO055 IMU -
- - All tests done when battery is between 12-13v (measured via REV Driver Hub)
-
-
-
- All batteries are less than a year old -
-
--Only hardware changes between tests are changing the odometry module!
-
-
-
- CAD models for all odometry set-ups can be found here -
-
Software:
--
-
-
-
Robot Library: RoadRunner V1.0 (Quickstart, 3 Dead Wheels)
--
-
-
-
Tuning steps: (each step should be ran 3 times, and the three values should be averaged to get the final constant)
-
- -
-
-ForwardPushTest&LateralPushTest: -\( \frac{\frac{96}{24.5}}{384.5} = 0.010190812 \)
- -
-
-ForwardRampLogger: 5 Tiles (120 inches)
- -
-
-LateralRampLogger: ~5.5 seconds of runtime
- -
-
-AngularRampLogger: ~7 seconds of runtime
- -
-
-ManualFeedforwardTuner&ManualFeedbackTuner: 4.5 Tiles (108 inches)
-
- -
-
-
-
Testing Specifications:
--
-
-
-
-
-
-
- Moving in every 30° direction from 0° to 330° back and forth a distance of 2 Tiles (48 inches) in a straight line -
- At the end, the change in position for each odometry wheel is returned -
- There is no turning -
- This will all be executed with
.strafeTo(new Vector2d(x, y)), not.lineToX(x)or.lineTo(x)
-
-- --
-
- -
-
-
-
-
- A large variety of splines, turns, and turning while strafing in complex paths -
- At the end, the change in position for each odometry wheel is returned -
-- --
-
- -
-
-
-
-
- A combination of Spline Test and Straight Test -
- At the end, the change in position for each odometry wheel is returned -
-- --
-
-
- -
-
-
Straight Test
-// Straight Test
+
+
+
+
+
+ Introduction
+ This is the official documentation for FTC Team 23511, the Seattle Solvers.
+ Please note: while this mdBook is open-source, there is no guarantee that any pull requests/issues will be addressed or merged.
+ Odometry Testing
+ Environment:
+
+ - Latest FIRST Tech Challenge Field Soft Tiles
+
+ - Lightly used (1 season)
+ - Vacuumed before each new odometry system used
+
+
+ - No game elements (trusses, stage door, backdrop, etc.)
+ - Wood floor and tarp underneath field
+
+
+ Environment does not change or get moved between tests!
+
+
+ Hardware:
+
+ - Strafer® Chassis Kit V5 - goBILDA® - all parts lightly used for 1 season or less with no effects to performance
+
+ - Only modification of 435 RPM goBILDA® motors
+ - Same goBILDA® MOD 1.25 30 tooth gears as what come in the kit
+ - Added weights at the center of the robot until robot weighs 25 lbs
+ - All screws have red loctite applied to them to keep robot rigid between tests
+
+
+ - “New” Control Hub
+
+ - Both IMUs available and tested individually for 2 wheel testing
+ - Internal BHI260AP IMU
+ - External BNO055 IMU
+
+
+ - All tests done when battery is between 12-13v (measured via REV Driver Hub)
+
+ - All batteries are less than a year old
+
+
+
+
+ Only hardware changes between tests are changing the odometry module!
+
+
+ - CAD models for all odometry set-ups can be found here
+
+
+ Software:
+
+ -
+
Robot Library: RoadRunner V1.0 (Quickstart, 3 Dead Wheels)
+
+ -
+
Tuning steps: (each step should be ran 3 times, and the three values should be averaged to get the final constant)
+
+ -
+
ForwardPushTest & LateralPushTest:
+ \( \frac{\frac{96}{24.5}}{384.5} = 0.010190812 \)
+
+ -
+
ForwardRampLogger: 5 Tiles (120 inches)
+
+ -
+
LateralRampLogger: ~5.5 seconds of runtime
+
+ -
+
AngularRampLogger: ~7 seconds of runtime
+
+ -
+
ManualFeedforwardTuner & ManualFeedbackTuner: 4.5 Tiles (108 inches)
+
+
+
+ -
+
Testing Specifications:
+
+ -
+
+
+ - Moving in every 30° direction from 0° to 330° back and forth a distance of 2 Tiles (48 inches) in a straight line
+ - At the end, the change in position for each odometry wheel is returned
+ - There is no turning
+ - This will all be executed with
.strafeTo(new Vector2d(x, y)), not .lineToX(x) or .lineTo(x)
+
+
+
+
+
+
+
+ -
+
+
+ - A large variety of splines, turns, and turning while strafing in complex paths
+ - At the end, the change in position for each odometry wheel is returned
+
+
+
+
+
+
+
+ -
+
+
+ - A combination of Spline Test and Straight Test
+ - At the end, the change in position for each odometry wheel is returned
+
+
+
+
+
+
+
+
+
+
+ Straight Test
+ // Straight Test
.strafeTo(new Vector2d(0, 48))
.strafeTo(new Vector2d(0, 0))
@@ -365,8 +366,8 @@ Software:
.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
.strafeTo(new Vector2d(0, 0))
-Spline Test
-// Spline Test
+ Spline Test
+ // Spline Test
.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
.setTangent(0)
@@ -443,8 +444,8 @@ Software:
.splineTo(new Vector2d(0, 0), Math.PI / 2)
-Combined Test
-// Combined Test
+ Combined Test
+ // Combined Test
.strafeToSplineHeading(new Vector2d(-48, -48), Math.toRadians(0))
.strafeTo(new Vector2d(-24, 24 * Math.sqrt(3)))
@@ -523,76 +524,76 @@ Software:
.lineToX(0)
.turn(Math.toRadians(-45))
-Contributors
-
-
-
- 
-
-Image above was made with contrib.rocks.
+ Contributors
+
+
+
+
+
+ Image above was made with contrib.rocks.
-
+
-
+
+