jaschalittle / chomp

Code for the Chomp project

Chomp

This readme is just here as a file for the first commit.

chomp's Issues

Autochomp is confused if hammer is forward on entry

(Separate bug for another time: when you enter AutoChomp with the hammer already forward, the machine freaks out and tries to fire the hammer over and over in quick succession and won't stop when you turn AutoChomp off - you have to disable the weapons. This is pretty safe, because it just sits there and oscillates at BDC wasting nitrogen, but is still maybe worth someday addressing.)

Target tracking needs a vlocity estimate

The body-frame velocity of the target should be included in the target estimate and the position forward-projected to the estimated time of hammer impact. This should result in targeting "leading" the enemy slightly.

Integrate accelerometer

Chomp needs to know which way is up for self righting, start by adding an accelerometer and reading raw data.

Angular rate estimate needed

If the hammer files while chomp has substantial omega_z, the resulting gyroscopic torque usually results in an upset. We need to estimate body angular rates and lock out hammer firing above a to-be-determined threshold.

Angle fitlering looks funny

At sensors.cpp, line 72, probably meant abs_angle_traversed.

Test this once we have the machine re-assembled.

Roboteq Configs

I modified the weapon Roboteq config, and didn't commit the XML to the repo. Also, I should update all the Roboteqs to the current firmware revision, and organize the config files in the repo in a reasonable manner. Putting this here so I don't forget!

Orientation Estimate needed

Once we have an accelerometer, we need an orientation estimate. This will allow the correct self-righting behaviour to be selected.

Automatic driving needs a distance control

Presently, LEDDAR tracking can be used to steer the robot and keep it pointed at the enemy. We need to add the ability to maintain a distance from the enemy.