Proportional Integral Derivative (PID)
PID Setup
Our Proportional Integral Derivitave (PID) system is currently the most accurate method for us to control our robot. The proportional part of the PID system is just a standard gyro. The Integral system controls how quickly it changes, if it has to change even once, the next time it will change faster. The Derivative control makes the robot know when to correct itself because as the meaning of a derivative states, it will predict, with stunning accuracy, the next position of the robot. A combination of these tools allows the robot to drive with such precision that failure is very unlikely.
Code Setup
Gyro Straight Acceleration
This is the code behind our Gyro Straight Acceleration code. The robot starts at a defined speed and then accelerates to another specified speed easing movement allowing higher speeds with less error
Gyro Straight Rotations
Uses the gyro to move straight and corrects robot drift from dirty wheels and bumpy game boards.
Gyro Turn Degrees
Uses the Gyro sensor to make a turn until the robot reaches a certain degree
Gyro Straight Back
The same as Gyro Straight, just backwards.
Left Side
Pushing Corals
This code takes the corals and pushes them out onto the board to get extra points
Coral Reef
This code gets the shark, flips up the coral buds and coral reef, and gets the scuba diver.
Raise the Mast
All the Little Things
This code raises the mast and gets the mysterious creature's treasure from the nest, gaining 50 points.
All the Little Things
All the Little Things
All the Little Things
This code gets all the "little" things, meaning 4 of the krill, all 3 corals, the plankton sample, and the water sample. Kept as a backup in case of collectabuddy fails
Placing the Shark
All the Little Things
Placing the Shark
Brings the shark to it's habitat along with collecting the trident and setting up the artificial habitat in the 30 point position. The it continues on to transfer the robot to the right side.
Right Side
Whale
Collectabuddy
This code takes the corals and pushes them out onto the board to get extra points
Collectabuddy
Collectabuddy
This replaces "All the Little Things." It collects all of the miscellaneous items sitting on the board (Krill, water sample, seaweed)
Angler+Ending
Angler+Ending
Completes the Angler Fish Mission and continues to move the mysterious creature into it's habitat and send over the submersible.
HELP US WITH FTC!
As most of you know, our team is undergoing changes to become an FTC team! We appreciate viewing our website, but what would be really kind is donating to our GoFundMe at https://gofund.me/4ff960ae
(also linked to button)!
Thank you all again, and we hope to see you in FTC!