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Programming Workshop Making Sense of Sensors

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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  1. Programming WorkshopMaking Sense of Sensors FIRST 2008 Erik A. Cokeley - 2008

  2. 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

  3. Review the Default Design Sensor Selection Collecting Sensor Data Interpreting Data React! Some examples Questions Workshop Outline Erik A. Cokeley - 2008

  4. Design Flow • Competition Mode • Autonomous Mode • 26.2 ms Erik A. Cokeley - 2008

  5. 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

  6. 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

  7. 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

  8. 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

  9. An Example • Time for some code! Erik A. Cokeley - 2008

  10. Questions? Erik A. Cokeley - 2008

  11. For More Info • Erik Cokeley – FirstJerseyKid@comcast.net • www.cbthinkx.com/first/frc Erik A. Cokeley - 2008

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