SUPERQUEST FALL 2015: OREGON VEX IDEA FACTORY. Mid Willamette Education Consortium

Size: px

Start display at page:

Download "SUPERQUEST FALL 2015: OREGON VEX IDEA FACTORY. Mid Willamette Education Consortium"

Josephine Fox
5 years ago
Views:

1 SUPERQUEST FALL 2015: OREGON VEX IDEA FACTORY Mid Willamette Education Consortium

2 Oregon VEX League Sponsors Mid-Willamette Education Consortium

3 West High Map B105 B128 VEX Robotics A116 B107 Entrance Commons Lunch/ 3D Printing

4 Approximate Schedule Computer Lab 9:30 Welcome VEX Program Overview 10:00 Best Practices Drive Trains Shooters Gathering Students will be available to help your teams get going throughout the event. 11:00 Referee Training Videos 12:00 Lunch 1:00 Best Practices Programming your robot: Autonomous, Driver Control, Competition Template 2:00 Open Lab, Skills Challenges, Scrimmage Matches if robots are available. 2:00 Practice Matches/Skills Challenge/Technical Inspections 4:30 Lab Closes

5 9:30 Welcome Introductions Name, School, Experience VEX Nothing But Net

6 Overview: VEX Qualifying Tournaments Stand-Alone Qualifying Tournaments of teams Most cost $25/team, hosts set the fees Teams are encouraged to compete in two to four Qualifying Tournaments. Register at Teams that win Qualifying Tournaments advance to the State Championship. Excellence Award Winner All teams on the Winning Alliance Design Award Winner (If 25+ teams in the Qualifying tournament) Teams that participate in at least two Qualifying Tournaments also qualify for the State Championship. Wait List

7 Overview: VEX Schedule for Oregon 12/5/2015 West Salem HS: 32 Teams 12/12/2015 Lost River HS (Merrill, OR) 12/19/2015 Toledo HS (Toledo, OR) 28 Teams 1/16/2016 Willamette HS (Eugene, OR) 32 Teams 1/29/2016 West Salem HS Friday Night: 24 Teams 1/30/2016 West Salem HS Saturday: 32 Teams 2/6/2016 Dallas HS: 32 Teams 2/13/2016 Redmond HS 2/27 2/28/2016 State Championship: Sandy HS: 60 Teams 4/20-4/123/2016 VEX World Championship Louisville, KY 450 High School Teams, 150 Middle School Teams.

8 Qualifying Event Schedule / Info. Typically 5 Randomly Selected Qualifying matches Teams are ranked by their performance Win/Loss Record Strength of Schedule (Sum of scores of losing alliances for your matches) Alliances are selected (The number of alliances may vary depending on the number of teams participating) Start at the top seeded team Alliances of 2-3 teams are selected and they stay together throughout the elimination rounds. First alliance to win two matches advances, losing alliance is eliminated. Awards Ceremony

9 Oregon State Championship Planning for up to 60 VEX Teams Saturday / Sunday event. Typically 9 qualifying rounds After Qualifying Rounds Platinum Division The top 8 Alliances are Selected and Compete in the Platinum Division. The Winning Alliance teams are the State Champions Gold Division The remaining teams have the opportunity to compete in the Gold Division. The Winning Alliance teams are the Gold Division Champions.

10 Overview: Advancement to Worlds Oregon has Four High School Slots The three teams on the Platinum Division Winning Alliance The Excellence Award Winner If a team double qualifies, then the slot is giving to the next robot: Highest Programming Skills Score over the course of the year Highest Robot Skills Score over the course of the year Back and forth between Programming and Robot Skills to fill in the positions Oregon has one Middle School Only Slot Excellence Award Winner

11 Judged Awards Given at Events Judges Team that deserves special recognition for efforts leading up to, and during, the event Sportsmanship Team that is extremely courteous and most enthusiastic throughout the event Design (Engineering Notebook Required) Team with a professional design approach (i.e. Engineering Notebooks!) Excellence (Engineering Notebook Required) Overall top honor in the VEX Robotics Competition based on Rank after Qualifying Rounds Rank in Programming Skills Rank in Robot Skills Awards where they were considered as finalists

12 Overview: Changes Safety glasses need to be worn in the pits and at the field at tournaments. Referee Training Safety Video State Championship a Saturday/Sunday event At West Salem Events teams will turn in their engineering notebooks when checking in at the events.

13 Drive Trains simplerobotics.org Referee Training Video: Before the Match Drive Train Samples Show robots from Teams Simple Robotics Comparison

14 Skid Turn: Two Wheel Drive 2 wheel drive - This type of drive has only two wheels driven each wheel, driven by at least one motor A K A 2 wheel tank.(... ) Pros- simple to build very flexible Not easy to push from side if traditional wheels are used Cons more difficult to control than other options the non driven wheels take weight off of the drive wheels - limited power in the drivetrain Summary: Good for starters

determined by the gears used multiple motors draw more current and use up motor ports on controller Can be more difficult to repair and more

15 Skid Turn: 4-6 Wheel Drive Pros : Relatively Simple: Common at Competitions relatively simple to build can utilize multiple motors used by many strong teams Not easy to push from side if traditional wheels are used Cons: if gears are used the distance between drive shafts are determined by the gears used multiple motors draw more current and use up motor ports on controller Can be more difficult to repair and more components to fail all the drive wheels need to be close to the same size or they will fight with one another Summary: Strong, relatively simple

16 Example: Four Omni Wheels

17 Omnis Outside, Traction Middle

18 Another Omni Outside Traction Middle

19 Close up

20 Six Omni Wheels, Back Four Powered

Track System Pros pivot point is at the center of the drive system can use only 2 drive motors or multiple motors extra traction treads are available ( P/N: 276-2214) able to climb over field

21 Track System Pros pivot point is at the center of the drive system can use only 2 drive motors or multiple motors extra traction treads are available ( P/N: ) able to climb over field obstacles Cons Slick: the standard track lacks traction on some surfaces Slow: the distance traveled per rotation is limited by the size of the drive sprocket ( note some teams have used the larger high strength chain sprockets, P/N: as drive sprockets to over come this limitation.) Summary: Looks cool and can climb, but vulnereable

22 Sack Attack Track Bot

23 Nerf Tank Gun

24 Mascot

25 Holonomic: Robots that can go sideways

requires a motor for each drive wheel need driver training multiple motors draw

26 Pros can move in 2 different planes (front to back and sided to side), plus pivot very hard to trap in a corner very effective for lining up with game pieces Cons requires a motor for each drive wheel need driver training multiple motors draw more current and use up motor ports on controller does not climb field obstacles well Mecanum

27 Mecanum

28 Mecanum

29 Mecanums in back, Omni in Front

30 X-Drive

31 X-Drive

32 X-Drive

33 H-Drive

34 H - Drive

35 H - Drive

activate the swerve action complex most designs have a higher center of gravity

36 Swerve Wheels Pros agile! can climb field obstacles Cons: requires a motor for each wheel and motors to activate the swerve action complex most designs have a higher center of gravity Summary: Very agile, very complex and requires extra parts. Make sure to give yourself time and resources if you are to implement this option.

37 Swervebot

38 Tips for Drive Systems Always support drive shafts on two points (gears, sprockets, track drive sprockets, wheels). Always use Delrin bearings flats ( P/N : ) when placing a drive shaft through a metal structure. Always have a shaft collar ( P/N: ) orientated so as to hold the drive shaft into the motor. Check that no gears, sprockets, drive chains, or wheels are rubbing against a surface that will cause additional friction to drive system. This can be tested by spinning the drive system without the motor attached.

39 More Tips It is a good practice to test the motors before attaching them to the drive system. Try to orientate motor screws for easy access because they have a tendency to loosen up after use. Use the high strength stainless steel (6-32) motor screws they are less likely to strip. When using 6 or 8 wheel drive systems it is advantageous to have the center wheels lower or a slightly larger size than the end wheels

40 More Drive Train Tips Large wheels are faster (all else equal) and provide less torque Smaller wheels accelerate quicker but have a slower top speed. Smaller wheels can be placed closer to the corners With skid turn designs, short-wide designs are easier to turn than long-narrow

41 Sample Shooters.

42 Two-Wheel Shooter

43 One- Wheeled Shooter

44 One-Wheeled Shooter

45 Catapult Shooter

46 Pin Ball Shooter

47 Some Gathering Options

48 Hands:

49 Claws/Hands Pros and Cons Advantages Relatively simple to build Requires a low to medium torque application. Disadvantages- Usually can only hold one item at a time Summary: Great start and good for manipulating one item at a time.

They consist of the tank tread kit or chain from the high strength or regular sprocket sets.

50 Conveyor Belts Conveyer belts- These manipulators can be used to lift objects or move them horizontally. They consist of the tank tread kit or chain from the high strength or regular sprocket sets. Can combine with Tank Tread Upgrade kit for flaps. Many times the conveyer belt is integrated into a roller claw. All conveyer belts require at least one motor to activate

51 Conveyor Belts Pros and Cons Advantages Can move objects horizontally or lift them vertically. Requires a low to medium torque application. Disadvantages- Takes up a large volume on the robot, can raise the center of gravity of the robot Summary: More complex than a claw, but lets you control more than one scoring element at a time.

52 Accumulators

53 Side Gatherer

54 Referee Training Videos

55 Pushing, Pinning and Trapping Robust drivetrains are important. Referee Training Pinning and Trapping More drivetrain samples.

56 Referee Training: Human Interaction Link to Human Interaction Video

57 Referee Training: Tipping, Entanglement & Damage Link to Video

58 Referee Training: Disqualification and Disablements Link to Video

59 Referee Training: Possession Link to Video

60 Referee Training: Specialized Field Zones and Associated Rules Link to Video

61 Referee Video: Causing Opponents to Violate a Rule Link to Video

62 Referee Training: Scoring Rules Link to Video

63 Referee Video: Scoring a Match Link to Video

64 12:00 Lunch Thank you Oregon Computer Science Teachers Association!!

65 Programming: Autonomous Programming Autonomous Discussion Setting up and naming the Motors Look at two commands that will be enough to get your robot up and moving. Open up RobotC

66 Programming: Make sure RobotC is ready for Cortex Go to Robot -> Platform Type -> VEX 2.0 Cortex

67 Make Sure it is in the Real-World Robot -> Compiler Target -> Physical Robot

Style Start with a letter No spaces, punctuation or reserved words (blue) Describes what it represents First

68 Configuring the Robot: Focus on Motors Robot -> Motors and Sensors Setup Select the motor Currently can only purchase 393 Motors, also modify for internal gearing (high speed, turbo speed) Naming Convention Rules Style Start with a letter No spaces, punctuation or reserved words (blue) Describes what it represents First letter is lowercase otherwordsstartwithuppercaseletters For these motors leftmotor clawmotor armmotor rightmotor

69 1) Select the Motors tab. 2) Name the motor in the desired port. Motors and Sensors Setup Page 3) Use the pull down menus to select the motor. 4) One drivetrain motor will probably need to be reversed so the robot does not go in circles. 5) Select the side for drive motors. 6) Complete the setup for the remaining motors. 7) Click on Apply to remember the changes.

70 Code the setup creates pre-processor directives

71 Now we can start looking at RobotC motor[motorname] = motorpower; wait1msec(milliseconds);

72 Vocabulary // Comment task main() motor[] motorb. motorc {} wait10msec() ; = Header Code Compile Download Run {} Marks the begin and end of a block of code wait1msec(2000); The robot continues what it was doing for (2000) milliseconds. Two seconds in this case. What do you think this code will do? Code Break. Create an autonomous that has your robot move! The Header // In front of the line makes this line a comment /* */ for multiple line comments. task main() Marks the beginning of the instructions for the Robot. RobotC Is CaSe SeNsItIvE! ; is used to mark the end of a command. motor[motorb] = 127; motor[] Used to select the motor. rightmotor = This represents the place where the motor is attached. motor[port10] = 127; does the same thing. = 127; 127 = full power -127 = Reverse 0 = stop

73 Adding a Sensor: Configure and Name 1) Robot -> Motors and Sensors Setup 2) Select the VEX Cortex Digital Sensors 1-12 Tab 3) Name the Sensor. (Same rules as for motors.) - Start with a letter - No spaces or punctuation -no reserved words - should describe the sensor 4) Apply / OK

74 Go forward until the touch sensor is touched. #pragma config(sensor, in1, touchsensor, sensortouch) Plug a touch sensor into port 1. task main() { wait1msec(2000); //Robot waits for 2000 milliseconds while(sensorvalue(touchsensor) == 0) // 0 == not touched, 1 == touched } { motor[port2] = 63; //Motor on port2 is run at half (63) power forward motor[port3] = 63; //Motor on port3 is run at half (63) power forward } motor[port2] = 0; motor[port3] = 0;

75 Programming: Remote Control

76 Programming Remote Control Ch4 Right = 127 Middle = 0 Left = -127 Ch3 Up = 127 Middle = 0 Down = -127 Ch2 Up= 127 Middle = 0 Down = -127 Ch1 Right = 127 Middle = 0 Left = -127

77 Example Using the Remote Values to Drive the Motors Physical Robot Virtual World

78 Joystick Mapping: Physical <- Ch4 -> Up - Ch3 - Dn <- Ch1 -> Up - Ch2 - Dn Channel Left/Down Middle Right/Up vexrt[ch1] vexrt[ch2] vexrt[ch3] vexrt[ch4] Joystick Mapping: Virtual //Place before task main() #pragma x 1 y 1 debuggerwindows( joysticksimple ); #include JoystickDriver.c ; Channel Left/Down Middle Right/Up //Place inside the loop prior to joystick. joystick.joy1_x Command joystick.joy1_y getjoysticksettings(joystick); joystick.joy1_y x 2 y 2 Note: If you copypaste these into your progra m, you will need to retype in the. joystick.joy1_x

79 Online Time: Configure the motors and code the following Physical Robot Virtual World Configure the motors tied to ports on the Cortex: leftmotor, port 1 reversed rightmotor, port 10.

80 Robot Creeping? Y1 and Y2 values might not go exactly to 0 when you release the buttons which can cause your robot to creep. Can correct this in the code. Pseudo Code If the joystick reading is close to 0, say +/- 20 Give a 0 power value to the motor Else Give the joystick reading to the motor

pow() sqrt() Calculates a power float x; x = pow(10,3); //Calculates

81 A Little RobotC Math to Help RobotC Function Description Example abs() Finds the absolute value of a number float x; x = abs(5-10); pow() sqrt() Calculates a power float x; x = pow(10,3); //Calculates and returns 10^3 Finds the square root of a number float x; x = sqrt(8);

82 Using a variable to make threshold changes easier Physical: Getting Rid of the Creep Using the abs command to simplify the condition. if (vexrt[ch3] >(-threshold)) && (vexrt[ch3] < (threshold)) Executes Would this give line of the code same when results. the above condition is true. Executes the commands in the else when the above condition is false. Do the same for the rightmotor

83 Virtual Getting Rid of the Creep Add the pragma directive and include file. If you copy and paste from the PowerPoint you will need to retype in the. Add the getjoysticksettings(joystick); command. Replaced vexrt(ch3) with joystick.joy1_y1 Replaced vexrt(ch2) with joystick.joy1_y2

84 More Control Options To fight motors timing out, you can modify the drive code to lower the power sent to the motors. Go half-power Create an equation that maps remote input to output. Had some math wizzes that used a 5 th degree polynomial to provide more control when going slow. Can put together a bunch of stepped if elses to give different power values for different ranges of input values.

85 No Creep, Half Power Half Power

86 No Creep Half Power: Virtual Online Time: Test it on the Utilities -> Huge Table Half Power

87 Buttons Learning Objectives Be able to use the buttons to control motors on your robot. Complete challenges that incorporate buttons.

88 Joystick Buttons: Physical Buttons return a value of 1 when pushed and 0 when not pushed Button Description Example 5U Top button on back left vexrt[btn5u] 5D Bottom button, back left vexrt[btn5d] 6U Top button, back right vexrt[btn6u] 6D Bottom button, back right vexrt[btn6d] 7U Button 7 up vexrt[btn7u] 7D Button 7 down vexrt[btn7d] 7R Button 7 right vexrt[btn7r] 7L Button 7 left vexrt[btn7l] 8U Button 8 up vexrt[btn8u] 8D Button 8 down vexrt[btn8d] 8R Button 8 right vexrt[btn8r] 8L Button 8 left vexrt[btn8l]

89 Using the buttons to control the arm motor First we need to go to Motors and Sensors setup to configure the arm and claw motor. Clawbot Arm: Port 7 Claw: Port 6 Robot -> Motors and Sensors setup 1) Name and set the claw and arm motors. 2) Reverse the Arm Motor for Virtual Clawbot. Might need to reverse for physical robot also. 3) Click Apply and OK when finished.

90 Looking at Arm Control using buttons: Pseudo-Code If button 6U is pushed raise the arm (Send a signal of 127) Else if button 6D is pushed Lower the arm (Send a signal of -127) Else Stop the arm (Send a signal of 0)

91 Looking at the Arm: Pseudo-Code to Code If button 6U is pushed raise the arm (Send a signal of 127) Else if button 6D is pushed Lower the arm (Send a signal of -127) Else Stop the arm (Send a signal of 0) Style Note: Indent between the {} to make the code easier to read.

92 Virtual World Buttons joy1btn(9 ) joy1btn(1 0) joy1btn(1 ) joy1btn(6 ) joy1btn(8 ) joy1btn(5 ) joy1btn(7 ) Mode joy1btn(1 1) joy1btn(1 2) joy1btn(4 ) joy1btn(3 ) joy1btn(2 ) joy1_tophat

93 Joystick Buttons Virtual World Buttons return a value of 1 when pushed and 0 when not pushed, except the TopHat. Button Description Example 1 Left joy1btn(1) 2 Bottom joy1btn(2) 3 Right joy1btn(3) 4 Top joy1btn(4) 5 Back, top left joy1btn(5) 6 Back, top right joy1btn(6) 7 Back, bottom left joy1btn(7) 8 Back, bottom right joy1btn(8) 9 Small button, top left joy1btn(9) 10 Small button, top right joy1btn(10) joy1_toph at Left joystick button joy1btn(11) 12 Right joystick button joy1btn(12) TopHat Returns values -1 (Not pushed) or 0, 1, 7 depending on which part is pushed. joystick.joy1_tophat

94 Back to the Arm Movement Pseudo-Code but for Virtual Remote If button 6 is pushed raise the arm (Send a signal of 127) Else if button 8 is pushed Lower the arm (Send a signal of -127) Else Stop the arm (Send a signal of 0)

95 Arm Pseudo-Code to Code: Virtual World If button 6 is pushed raise the arm (Send a signal of 127) Else if button 8 is pushed Lower the arm (Send a signal of -127) Else Stop the arm (Send a signal of 0)

96 Where does this code go? Since you want the robot to continually check for the buttons being pressed, it needs to go inside the while(true) loop.

97 Online Time: Test Arm Movement Implement the code for the arm movement and test it in the Virtual or Real World. Try to use what you have learned to program the Claw motor as well using the back left buttons. Test your robot on the Huge Table.

98 Any problems? Arm floating down when button not pushed? How can you combat this? Arm didn t move

99 Claw Motor Virtual Pseudo Code If the back, top, left button is pushed Close the claw (127) Else if the back-bottomleft button is pushed Open the claw (-127) Else Leave the claw (0) Physical

Online Time Complete and test the drive code with the Anti-Creep

the Virtual Worlds go to the Remote Control Tab Bull in the Ring:

table of bad mines while not disturbing others Robo Slalom I:

A good time to practice refining remote to controller mapping to

100 Online Time Complete and test the drive code with the Anti-Creep code Test to see if the code works in the Utility -> Huge Table In the Virtual Worlds go to the Remote Control Tab Bull in the Ring: Knocking out cans in < 10 sec Minefield Challenge: Clearing the table of bad mines while not disturbing others Robo Slalom I: Driving through a course. A good time to practice refining remote to controller mapping to make driving more accurate Round up: How many laps can you complete in one minute? The code will need to stop you from driving!

101 Simple Sample Joystick task main() { } while (1 == 1) { } //Creates and infinite loop motor[rightmotor] = vexrt(ch2); //The right motor is set to //equal the value transmitted by //Ch2 (y-axis of the right joystick) motor[port3] = vexrt(ch3); //The motor in port3 is set to equal //the value transmitted by Ch3 //(y-axis of the left joystick)

102 Dual Joystick task main() { while (true) { motor[port1] = vexrt(ch2); motor[port2] = vexrt(ch3); motor[port3] = vexrt(ch2xmtr2); //Reading the second remote motor[port4] = vexrt(ch3xmtr2); } }

103 Competition Template Open Competition Template File -> New -> Competition Template Copy Autonomous code into Template Copy Driver Controlled Code into Template Test using Competition Switch

104 2:00 Technical Inspection/ Practice Matches Technical Inspection/ Practice Matches Robot Skills (Official if team is registered) One robot, all elements, one minute Practice 2v2 Matches 2v2, 15 Second Autonomous. 1:45 Driver Controlled Programming Skills (Official if team is registered) One robot, all elements, one minute

105 4:15 Clean up Thanks for coming 4:30 Closing

106 VEX Schedule for Oregon 11/15/2014 VEX Tournament Phoenix, High School 12/6/2014 VEX Tournament at West Salem 12/13/2014 VEX Skills Challenge Event at North Marion 1/10/2015 VEX Tournament at Evergreen Space Museum 1/24/2015 VEX Tournament at West Salem 2/7/2015 VEX Tournament at Dallas High School 2/14/2015 VEX Tournament at Sandy High School 2/21/2015 VEX Tournament at Redmond High School 2/28/2015 VEX Tournament at Dallas HS 3/6-3/7/2015 VEX State Championship: North Marion High Winning Alliance, Excellence and Robot Design Advance to Worlds Middle School Excellence Winner advances to Worlds 4/15-4/18/2015 VEX World Championship Louisville, KY

107 References

SuperQuest Salem Drive Train Best Practices

SuperQuest Salem Drive Train Best Practices Drive Trains Design Hints Compare different designs Look at examples from Worlds Tips for Drive Systems Always support drive shafts on two points (gears, sprockets,