Video of Performance Test 3
Preparation
For the third performance test, the robot needed to move the supplies from the lower cargo storage area to the higher receptacle. Additionally, bonus was awarded for driving back down to the lower surface.
At the start of testing, it became apparent that the current RPS turning algorithm was not sufficient to achieve consistent results near the 0° mark. Also, navigation with the X and Y coordinates on the RPS required very low motor percents to be used as the RPS reset at 10 Hz. This was easily accounted for, however, it was concerning given that all the tasks need to be completed in a certain amount of time. On a more significant note, it was discovered that the original design for the supplies handling would not work. The design involved a mechanical arm with two locking positions, but this idea was not reliable enough to continue development. Instead, a servo motor controlling a magnetic arm was implemented. To ensure that the magnets could hold the dumbbell, a PVC supporting block was added for higher degrees. Also, a top PVC strip was added to prevent the supplies from tilting to one magnet.
Additionally, it was discovered that the robot started have a little bit of drift towards the side with the dumbbell because more weight increased the traction on that side. This was accounted for by adding in a counter drift at key locations on the course. Also, it was discovered through testing that the robot needed to drive away from the dumbbell receptacle fast ensure that it rolled into the sensor part of the receptacle. Lastly, strategy was changed in that it took the robot too long (8 seconds) to navigate the temporary access ramp. For this reason, the robot was sent down the main ramp, sliding along its motors.
The robot was able to pass the test with the stretch bonus. A full description of the tests made is given in the Testing Log. An image of the robot at this stage is given below.
Performance Test 3 Passer!
Path Taken
For this performance test, the robot first left the start platform on the start light. Then, the robot traveled over to the supplies and lined up with them using RPS. Next, it picked up the supplies using the magnetic arm on a servo. After, it drove up the temporary access ramp to the top platform. Then, it dropped off the supplies in the receptacle. Finally, it drove down the main ramp using the motors as sleds on the construction bump. A full diagram of the path taken is given below.
Performance Test 3 Path