Programming workshop making sense of sensors
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Programming Workshop Making Sense of Sensors. FIRST 2008. Presenter. Erik A. Cokeley Involved in FIRST for 11 years Mentor - Hightstown High School - Team 1089 NJIT - Junior Computer Science Major Experienced with the Microchip PIC Autonomous robots Program in C, C++, Assembly, Java

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Programming Workshop Making Sense of Sensors

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Programming workshop making sense of sensors

Programming WorkshopMaking Sense of Sensors

FIRST 2008

Erik A. Cokeley - 2008


Presenter

Presenter

  • Erik A. Cokeley

  • Involved in FIRST for 11 years

    • Mentor - Hightstown High School - Team 1089

  • NJIT - Junior

  • Computer Science Major

  • Experienced with the Microchip PIC

  • Autonomous robots

  • Program in C, C++, Assembly, Java

  • Familiar with the FIRST Default Code

  • Co-Founder CB Thinkx LLC

Erik A. Cokeley - 2008


Workshop outline

Review the Default Design

Sensor Selection

Collecting Sensor Data

Interpreting Data

React!

Some examples

Questions

Workshop Outline

Erik A. Cokeley - 2008


Design flow

Design Flow

  • Competition Mode

  • Autonomous Mode

  • 26.2 ms

Erik A. Cokeley - 2008


Sensor selection

Sensor Selection

  • Identify the problem

  • What information do we need

  • How do we gather that information

    • More than one sensor might be needed

  • How to select sensor

    • Make sure it reads what you want…

    • Compatible with your machine

    • Accuracy & Repeatability

Erik A. Cokeley - 2008


Collecting sensor data

Collecting Sensor Data

  • Read the documentation.

    • No two sensors work exactly the same

    • Test your sensor

    • Only use the sensor if it still helps

  • Poll or Interrupt Models

  • Sampling Rate & Precision

  • Processing Time/Storage Requirements

Erik A. Cokeley - 2008


Interpreting data

Interpreting Data

  • Aggregation

    • Multiple Sensors

    • Over Time

    • Running Total

    • Running Average

  • Correlation

    • Give the data meaning and purpose

  • Data Issues

    • Noise Margin

    • Estimation/Linearization

    • Dead Zones

  • Programming Issues

    • Overflow

    • Hysteresis

Erik A. Cokeley - 2008


React

React!

  • State Machine

  • Where to React

    • Reaction time

  • Priority

    • Sensor Priority

      • Man vs. Machine

    • Machine Functionality

      • Saving resources (battery)

  • Control the Robot

Erik A. Cokeley - 2008


An example

An Example

  • Time for some code!

Erik A. Cokeley - 2008


Questions

Questions?

Erik A. Cokeley - 2008


For more info

For More Info

  • Erik Cokeley – [email protected]

  • www.cbthinkx.com/first/frc

Erik A. Cokeley - 2008


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