Team Eleven: maslabnerds63

1
Team Eleven maslab-nerds-63

• Team members
• Paul Elliott
• Meredith Gerber
• Oliver Martin
• Ryan Williams

2
Hardware Design

• Top view

• Objectives
• Acquire balls as fast and as reliably as possible
  without stopping
• Dispense balls accurately with 1-5 range
• Components
• Motor driven roller
• Servo controlled hopper

• Side view

3
Software Architecture

• Never stop the robot
• Always Processing Images
• Remember where they are taken
• Encoders drive short distances
• Corrections from camera

4
Challenges, Risks, and Mitigations
Challenge Keep b0T continuously moving. Risk
b0T will get easily lost if it moves
significantly faster than it can identify its
location. Mitigation Shoot for high frame rate
(currently 7.5 with minimal publishing). Mitigatio
n Incorporate both vision-based distance
information and shaft-encoder-based distance
information into distance estimate. Risk b0T not
agile enough to gain control of balls Mitigation
Design motion robust ball-intake mechanism (the
roller). Challenge Have b0T make good decisions
about where to go (and when). Risk Keeping all
that state information stored, about where it's
been and what it's seen is a very large
problem. Mitigation Start by simply making
decisions about one target based on what's
currently in the frame. Then add capability to
remember where goals are if there's time. Then
expand that so that it could remember where other
objects were. Mitigation Start without
considering time elapsed as a factor. Challenge
Roller has no obvious interface with
towers. Risk It may jam a tipped-over
tower. Mitigation Top edge of tipped-over tower
is higher than ball diameteruse a static
guard/shield in front of the roller. Risk
Non-obvious scoring method with resped to balls
in tube. Mitigation If there are no more loose
balls to be found, knock the towers over to
produce more loose balls.