Відео

they are mecanum wheels with different dimensions then the standard gobilda ones that we actually found on ebay!

Nope, it isn't triggered! It auto suctions a specific surface type (smooth, flat) and you need to bend the stick to release it.

Thanks! We use a GoBilda yellow jacket motor

Hey, thanks for pointing that out! That's a really good thing to know for anyone planning on using the suction cup on an FTC robot :))! Thanks again!

Cool question! Our turret is a lazy susan bearing powered by a motor. There is a carbon fiber plate attached on top of the lazy susan bearing so that we can easily attach our delivery arm. We also have another lazy susan bearing on the intake arm but that is custom 3D printed.

hi! since there were pipes on the field, adding typical odometry would slow down our robot on the field. therefore, since our robot largely remains on the wall, we decided to measure these ticks with an encoder that tracks the rotation of a wheel. we added a spring within the walldometry so that we could overcome uneven surfaces. we used these tick measurements to improve the accuracy and reliability of our movement. let us know if this doesn't make sense! :)

I agree with Andrei here, this is awesome and I would love to see a more indepth look!

Lol!!

Hi! We learned TensorFlow Lite basically throughout trying it out and experiencing what it was capable of. There's plenty of helpful resources in the external samples in the FtcRobotController folder, for example this one: github.com/FIRST-Tech-Challenge/FtcRobotController/blob/master/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java We've found that TensorFlow works well for game elements (a new TFLite model is provided every year) but we've found it difficult to use for custom objects or other use cases like warehouse freight detection. This is why we decided to create a custom vision algorithm, which you can see at 0:33. If you want to learn more about our custom vision algorithms, feel free to contact our lead programmer at null_awe#0184 on Discord. There are probably great videos on how to use OpenCV for FTC on UA-cam, but we haven't really used OpenCV, at least not yet.

Feel free to reach out if you have any questions!

@@highdefinition6017 actually, can you give me an idea of where to start? Maybe some theory, what to Google,, etc

@@yotamdubiner2545 Try looking at the sample class in external samples called "ConceptWebcam". This teaches you how to retrieve image frames from the webcam directly. Then, the most important thing is converting the RGB color format of the pixels to HSV, which you can work more with (filtering is much easier with HSV).

@@highdefinition6017 I know how to do that. I'm familiar with eocv. I just need to know how you determine the distance from the object by using the pixel of it in the image

@@highdefinition6017 and how u determine the angle

Hi there! We have not made the portfolio public yet as we are still mid-season. Following the World Championships, we will most likely make it public - so stay tuned for then!

@@highdefinition6017 Have you made the code public? You mentioned in the video that you were considering doing that.

We're using 11 GoBilda servos and one Savox servo, not Dynamixel servos. I'm not sure what you mean by reflashing them using the control hub.

All of our vision algorithms are completely original this year. The logic described in the video is run in a background thread, and when highly optimized, it can cycle camera frames extremely quickly that allows us to do real-time detection. If you are in the FTC Discord, there was another example of real-time detection that also used a highly-optimized version of our code: discord.com/channels/225450307654647808/771188718198456321/946616121451249725

@@highdefinition6017 COngrats and keep going.

Yeah, the repo is private as of now because it's not cleaned up, which we'll probably do if we release the code to public. Our shipping element detector code, however, is public here: github.com/HiiDeff/ShippingElementDetector

@@highdefinition6017 thank you

Maybe in the future...

Nope, everything is custom made! For the PID tuner, we have a base class that handles all the normal PID logic which applies to all PID models (for any subsystem), and then all we have to do for a new subsystem is just implement a few methods (getError, setPower, cancel) and then it's ready to be tuned in tele-op.

1 IMU 2 Logitech Webcams 5 REV 2m Distance Sensors 6 Motor Encoders 12 Servo Encoders

The rotating platform in both the delivery arm and the intake arm is a lazy susan bearing. For the delivery arm, it was big enough that we could buy it online. However, since the intake arm was smaller, we used Fusion 360 to CAD our own lazy susan bearing and 3D printed it.

@@highdefinition6017 but how you motorized it?

​@@mateusbernart2101 I'll be explaining the intake arm lazy susan bearing, but the delivery arm works similarly with a motor in place of a servo. The Lazy Susan bearing has two parts, an inner part (mounted to the drivetrain) and the outer part. In between is a set of balls that allow for the rotation of the bearing. We have attached a gear connected to the outer part and the above plate. This is controlled by the servo you see on top of the bearing. When the servo rotates, it rotates the gear. Another gear is located in the inner part of the bearing. Therefore, both gears will move and the intake arm will rotate! If you don't understand my explanation, then we can also share the CAD file for you to take a better look at the components.

@@highdefinition6017 would it be possible for you to share the cad?

​@@VeerNanda Added the link to the video description! :)

6” mecanum wheels!

Yep! We don't actually detect all of the blocks, only the closest one (lowest in the image). However, it does pick out one individual lowest block.

We actually haven't tried it with a phone camera before, although we've been asked this same question before. Our guess is you could try looking at the sample classes that is provided in the FTCRobotController, and see if there is something that can retrieve camera frames. When we tried this last year for ring detection (counting orange pixels instead), the only way we could retrieve an image from the phone camera was to use Vuforia to return an image (a process of which we've kind of forgotten the specifics of... but you could probably find online). We're not aware of another way currently.

@@highdefinition6017 Alright thank you. I'll try it out and let you know how it goes.

We use a regular Logitech webcam (I'm not sure what specific model), and we don't use any libraries for detection; all the code used for processing the image is developed by our team.

Thank you so much! :D

Thanks!