Driver & Human Player Views: Lines of Sight Siri Maley FIRST Team 1640, 28 January 2011.

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Presentation transcript:

Driver & Human Player Views: Lines of Sight Siri Maley FIRST Team 1640, 28 January 2011

Simulation Goal Visibility (and lack thereof) plays a huge role in LogoMotion. CAD isn’t the optimal way to check this, but it can show some things.  What does the human player see?  What limits driver vision?  Can we optimize our designs for this?  How close is this simulation? (correct next year)  First attempt after ~130 matches behind the glass

Inventor Model LoS Test.iam Use Perspective Camera Mode (View  Appearance  Perspective) Limitations:  Field of view – manual; Inventor doesn’t control this well  Reflections – not replicated; a perennial driving difficulty  Contrasts – sometimes better sometimes worse  Views are not supposed to be photographic See Also:  Team Titanium Blank Field Simulation Team Titanium Blank Field Simulation  Blake’s 5 th Gear (coming soon)

Bird’s Eye Not as crowded as 2007, but worse than it looks.

Bird’s Eye Traffic jam (think 2009)

View from the Front (far DSs) Note: Polycarbonate wall is much more reflective

View from the Front (DS 2) Those center guys have it easy

Eating at the Right Station (from DS3) Good thing we’ve got that claw sensor…

Eating at the Left Station (from DS3) …very good.

Scoring View (far grid – low) Think 2010 far goal, but with taller robots in the way.

Scoring View (far grid – mid) Not far-side 2007 hard, but not easy per say.

Scoring View (far grid – top) Not far-side 2007 hard, but not easy per say.

Scoring View (near grid – mid Ubertube) Something to practice

Scoring – Lessons Learned  Practice Tube release & back up  Plan on limited vision, make it second-nature  Practice scoring over Ubertubes  Shouldn’t a major problem  Practice feeding station pickup  Doesn’t change – shouldn’t need significant visual  Analyst stay centered  Feeders need to get used to maintaining LoS  Coaches will move, Operator may want to  Worth examining full-scale – would have been nice in 2007  Mirrors?

Minibot Alignment Orientations Directness vs. Safe Lane trade-off Not easy to reach Easier to reach

Minibot Alignment (near edge) Getting around (quickly) won’t be easy

Minibot Alignment Doesn’t hurt to race on your own edge (L/R)

Minibot Alignment (open court) Straighter access, but we’ll see how plays out. During the END GAME, ROBOTS/HOSTBOTS in contact with their ALLIANCE’S TOWER are protected and may not be contacted by an opponent. Violation: PENALTY for inadvertent contact; plus a RED CARD for obviously intentional contact.

Lessons Learned – Minibot Alignment  Probably won’t miss entirely (contrary to original assessment)  Probably will have trouble getting/staying precisely on target  Not going to be fun (or fast) to get around.  Practice  Alignment works even with defense  Want largest funnel mouth opening possible  Robust rather than flexible re-direct  Since we probably won’t miss entirely  If we do lose visibility entirely: on the coach  (Doubt we need sensor feedback)