driver & human player views: lines of sight siri maley first team 1640, 28 january 2011
TRANSCRIPT
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Driver & Human Player Views:Lines of Sight
Siri Maley
FIRST Team 1640, 28 January 2011
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Simulation GoalVisibility (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
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Inventor ModelLoS 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 Blake’s 5th Gear (coming soon)
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Bird’s Eye
Not as crowded as 2007, but worse than it looks.
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Bird’s Eye
Traffic jam (think 2009)
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View from the Front (far DSs)
Note: Polycarbonate wall is much more reflective
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View from the Front (DS 2)
Those center guys have it easy
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Eating at the Right Station (from DS3)
Good thing we’ve got that claw sensor…
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Eating at the Left Station (from DS3)
…very good.
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Scoring View (far grid – low)
Think 2010 far goal, but with taller robots in the way.
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Scoring View (far grid – mid)
Not far-side 2007 hard, but not easy per say.
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Scoring View (far grid – top)
Not far-side 2007 hard, but not easy per say.
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Scoring View (near grid – mid Ubertube)
Something to practice
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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?
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Minibot Alignment Orientations
Directness vs. Safe Lane trade-off
Not easy to reach
Easier to reach
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Minibot Alignment (near edge)
Getting around (quickly) won’t be easy
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Minibot Alignment
Doesn’t hurt to race on your own edge (L/R)
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Minibot Alignment (open court)
Straighter access, but we’ll see how <G25> plays out.
<G25> 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.
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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)