Additional Waypoints and WayPoint attributes

[ghost]

We will require at least one additional way point, for start of upper ramp start.
Also, all waypoints require an additional field to specify what the speed must be. It can say things like "Normal", "Ramp", "Anything else @dfarrell07 might think appropriate". etc.

[rlsnow]

Ok. I can add these today. Will be running a little late though.

[dfarrell07]

We will also need to move the start waypoint to reflect the location where we actually want to place the point that represents the bot (the center of rotation, between the wheels).

[dfarrell07]

We need waypoints at the base and top of both ramps, so that planner can issue high speed micro moves between those locations for ramp climbs. How's the new start waypoint coming, @rlsnow?

[rlsnow]

There are already waypoints at the center of the lower platform, center of upper platform, and centered in front of the lower ramp on the ground level. Are these not satisfactory?

I can change the start point as soon as we know where we want to start. Where do we want to start?

[dfarrell07]

From what I understand after talking to @rsrinath85, the ramp waypoints should be closer to the edge of the ramp, so that the robot can power up to that point, then slow down for travel on the flat part.

@R00ney, where would we need to put the XY location (center of rotation) of 'bot such that its front is at the edge of the ramp when going up one? Such that its back is just off the ramp after going up one? Such that its left and front sides are on the outer edge of the start location?

[jschornick]

On Thu, Apr 4, 2013 at 3:55 PM, Ricker [email protected] wrote:

I can change the start point as soon as we know where we want to start.
Where do we want to start?

Neal and I measured the start location, and we're saying it's 4.0" x
7.75" at 0 degrees. This is it account for the fact we're giving a
little extra buffer from the wall and that the "center" of the bot is
not the visual center of the chassis.

• Jeff

[rlsnow]

Jeff,

Were these measurements taken from the wall our from the very edge of the
course (i.e. including the wall)?

-Ricker

On Thu, Apr 4, 2013 at 4:07 PM, Jeff Schornick [email protected]:

On Thu, Apr 4, 2013 at 3:55 PM, Ricker [email protected] wrote:

I can change the start point as soon as we know where we want to start.
Where do we want to start?

Neal and I measured the start location, and we're saying it's 4.0" x
7.75" at 0 degrees. This is it account for the fact we're giving a
little extra buffer from the wall and that the "center" of the bot is
not the visual center of the chassis.

• Jeff

—
Reply to this email directly or view it on GitHubhttps://github.com//issues/21#issuecomment-15920561
.

Ricker Snow
North Carolina State University
Student, Electrical and Computer Engineering
NCSU IEEE Secretary

[jschornick]

On Thu, Apr 4, 2013 at 4:29 PM, Ricker [email protected] wrote:

Were these measurements taken from the wall our from the very edge of the
course (i.e. including the wall)?

The measurements are relative to the very edge of the course, not the
inside edge of the walls.

• Jeff