Jordan Perr » frc

Comparing Accelerometer and Wheel Encoder Data

Jordan — Fri, 18 Dec 2009 01:47:44 +0000

A necessary but mundane task of programming any vehicle’s autonomous drive system is filtering the noise out of encoder and accelerometer sensory data. To demonstrate the noisiness of our sensors to the rest of the FRC team, I decided to create visual aids using Microsoft Excel. The following graph shows both sets of data over time during smooth acceleration and deceleration.

Accelerometer and encoder data on progbot for a "smooth" driving trial.

Accelerometer and encoder data for a very rough trial with progbot. The wheels were slipping at points during this trial.

Stuypulse Website (2008 PHP)

Jordan — Tue, 08 Dec 2009 15:25:02 +0000

After an entire christmas vacation’s worth of PHP and Javascript wrangling, Daryl and I finished the 2008 Stuypulse website!

Click to visit stuypulse.com

The new site contains a novel CMS developed from scratch. Using a seamless interface, team members can add and edit pages and subpages to an infinite depth, create and display custom “widgets” for both sidebars, and easily update header and footer information. Integration with our existing SMF forum login system means that team members can use their forum credentials to log into the CMS.

Pointdrive for Desbot

Jordan — Tue, 08 Dec 2009 03:15:37 +0000

Pointdrive is a revolutionary control system developed by me and a small team of programmers for Stuyvesant FRC’s 2007-2008 season. The system includes a bezier curve interpreter (written in C) onboard the robot’s IFI PIC18 RC unit as well as an AdobeSVG file converter on the host PC. This novel system allows drivers to literally draw the desired autonomous drive routine atop a map of the competition field, greatly reducing pre-match glitches and debugging.

The code for Pointdrive is located somewhere in this subversion repository.
The Adobe SVG parsing script is located here.