Results today
playeratat-20090604201502.log: 263 329 66
playeratat-20090604200735.log: 99 130 31
playeratat-20090604192852.log: 905 952 47
48 seconds average (15 targets)
3.2 seconds / target
scott@dell-desktop:~/playeratat/log$ perl times.pl < playeratat-20090604200735.log
Description , Count, Time (ms), Avg (ms)
auto_target:target_attempt , 27, 34798, 1288
auto_target:move_to_target_static , 27, 3849, 142
auto_target:acquire_targets , 27, 0, 0
auto_target:fire_mounted , 9, 1996, 221
auto_target:fired_acquire_targets_static , 27, 1, 0
auto_target:move_to_target_mounted_update , 50, 14657, 293
auto_target:fire_mounted_update , 27, 1286, 47
auto_target:static_fire , 27, 6160, 228
auto_target:fired_acquire_targets_mounted , 27, 0, 0
auto_target:get_nearest_target , 27, 1, 0
auto_target:get_nearest_target_mounted , 50, 0, 0
auto_target:move_to_target_static_update , 27, 1103, 40
auto_target:move_to_target_mounted , 50, 3418, 68
auto_target:acquire_targets_mounted , 50, 3, 0
scott@dell-desktop:~/playeratat/log$ perl times.pl < playeratat-20090604201502.log
Description , Count, Time (ms), Avg (ms)
auto_target:target_attempt , 56, 73868, 1319
auto_target:move_to_target_static , 56, 5462, 97
auto_target:acquire_targets , 56, 0, 0
auto_target:fire_mounted , 26, 6267, 241
auto_target:fired_acquire_targets_static , 56, 3, 0
auto_target:move_to_target_mounted_update , 104, 31188, 299
auto_target:fire_mounted_update , 56, 2739, 48
auto_target:static_fire , 56, 12876, 229
auto_target:fired_acquire_targets_mounted , 56, 0, 0
auto_target:get_nearest_target , 56, 0, 0
auto_target:get_nearest_target_mounted , 104, 2, 0
auto_target:move_to_target_static_update , 56, 2767, 49
auto_target:move_to_target_mounted , 104, 6338, 60
auto_target:acquire_targets_mounted , 104, 6, 0
scott@dell-desktop:~/playeratat/log$ perl times.pl < playeratat-20090604192852.log
Description , Count, Time (ms), Avg (ms)
auto_target:target_attempt , 108, 128941, 1193
auto_target:move_to_target_static , 108, 8342, 77
auto_target:acquire_targets , 108, 0, 0
auto_target:fire_mounted , 36, 8067, 224
auto_target:fired_acquire_targets_static , 108, 5, 0
auto_target:move_to_target_mounted_update , 203, 61551, 303
auto_target:fire_mounted_update , 108, 5566, 51
auto_target:static_fire , 108, 24731, 228
auto_target:fired_acquire_targets_mounted , 108, 4, 0
auto_target:get_nearest_target , 108, 0, 0
auto_target:get_nearest_target_mounted , 203, 12, 0
auto_target:move_to_target_static_update , 108, 4143, 38
auto_target:move_to_target_mounted , 203, 11678, 57
auto_target:acquire_targets_mounted , 203, 8, 0
Thursday, June 4, 2009
Monday, June 1, 2009
Our best time ever: 2.5 sec per target
Our best time ever
Time trials today with 15 targets:
filename / startime / endtime / duration / per target
playeratat-20090531143039.log: 588 960 372 24.8
playeratat-20090531145100.log: 29 117 88 5.87
playeratat-20090531154751.log: 21 64 43 2.86
playeratat-20090531160845.log: 124 162 38 2.53
Best time: 2.53 per target
Today was the first time we completed time trials with the new turret.
It was also the first time we shot down 15 targets without reloading with any turret.
I didn't take any videos, but I should definitely do that next time we test.
Excellent results!
Time trials today with 15 targets:
filename / startime / endtime / duration / per target
playeratat-20090531143039.log: 588 960 372 24.8
playeratat-20090531145100.log: 29 117 88 5.87
playeratat-20090531154751.log: 21 64 43 2.86
playeratat-20090531160845.log: 124 162 38 2.53
Best time: 2.53 per target
Today was the first time we completed time trials with the new turret.
It was also the first time we shot down 15 targets without reloading with any turret.
I didn't take any videos, but I should definitely do that next time we test.
Excellent results!
Tuesday, May 26, 2009
Fastest gun in the west
Maybe.
Major progress this weekend with lots of welding too.
Laser mounted to gun...
Gun mounted to metal...
Metal mounted to turret...
Turret mounted to base...
Todo:
Lots of time trials
We've just got confirmation that we're officially accepted into the contest now. This new turret is significantly faster than the previous version - very exciting.
Major progress this weekend with lots of welding too.
Laser mounted to gun...
Gun mounted to metal...
Metal mounted to turret...
Turret mounted to base...
Todo:
Lots of time trials
We've just got confirmation that we're officially accepted into the contest now. This new turret is significantly faster than the previous version - very exciting.
Tuesday, May 5, 2009
Testing
Reviewed the results of timing and conducted more tests.
Also we geared up the faster new gun – should be ready to go this week.
In reviewing the timing, the majority of time is lost on missing the first shot. Mechanical movement time makes up the vast majority of time consumption, especially corrections, followed by shot time itself.
In reviewing time consumption is was clear that the number of movements per target was very high due to incorrect targeting initially.
The new gun targeting moves faster, but the mechanical moves still take up most of the time (and always will). The key is to properly match the pointer to the blob correctly the first time, so no corrections are necessary. Then improvements in mechanical speed will have a significant impact on the overall times.
Also we geared up the faster new gun – should be ready to go this week.
In reviewing the timing, the majority of time is lost on missing the first shot. Mechanical movement time makes up the vast majority of time consumption, especially corrections, followed by shot time itself.
In reviewing time consumption is was clear that the number of movements per target was very high due to incorrect targeting initially.
The new gun targeting moves faster, but the mechanical moves still take up most of the time (and always will). The key is to properly match the pointer to the blob correctly the first time, so no corrections are necessary. Then improvements in mechanical speed will have a significant impact on the overall times.
Monday, April 20, 2009
TAKING IT UP A NOTCH!
Only 6 weeks left until we go to Robogames. TAKING IT UP A NOTCH!
We've initiated time trials!
Early time trials with all 14 targets are all over the map due to manual gun reloading. It's rediculous! The thing runs out of bullets. This is very similar to our experience at Defcon.
logfile: start_time end_time difference(seconds)
playeratat-20090419143614.log: 413 626 213
playeratat-20090419145133.log: 114 222 108
playeratat-20090419152502.log: 278 647 369
playeratat-20090419153853.log: 518 693 175
playeratat-20090419162203.log: 87 256 169
playeratat-20090419162735.log: 38 136 98
playeratat-20090419163742.log: 226 374 148
Mean - 182.9 - approx 13.06 seconds per target
To get a better picture, we reduced the number of targets to control for the gun capacity. We did several time trials with 3 targets and established that the primary limiting factor is the gun and its misfires.
playeratat-20090419164925.log: 73 88 15
playeratat-20090419165235.log: 18 30 12
playeratat-20090419165809.log: 26 36 10
Mean - 12.3 - approx 4.1 seconds per target
The new gun won't be useable with the existing hardware without downtime on software, so we're holding off using the new gun until the new hardware is complete in order to keep software development going. Unfortunately that means that our time trials are essentially invalid until then.
To bridge this, Daniel will be doubling down on his efforts to finalize the hardware this week.
This week:
The new DC Driver interface tested and integrated with PLAYER successfully.
We attempted some pixel mapping methods (such as opencv) but found that hard alignment of camera to target screen was easier an more effective.
We also attempted varying light conditions using the 1500 watt halogen but it intoduced a bunch of shadow that was inconsistent with the test environment anyways. We won't be using that anymore.
We've initiated time trials!
Early time trials with all 14 targets are all over the map due to manual gun reloading. It's rediculous! The thing runs out of bullets. This is very similar to our experience at Defcon.
logfile: start_time end_time difference(seconds)
playeratat-20090419143614.log: 413 626 213
playeratat-20090419145133.log: 114 222 108
playeratat-20090419152502.log: 278 647 369
playeratat-20090419153853.log: 518 693 175
playeratat-20090419162203.log: 87 256 169
playeratat-20090419162735.log: 38 136 98
playeratat-20090419163742.log: 226 374 148
Mean - 182.9 - approx 13.06 seconds per target
To get a better picture, we reduced the number of targets to control for the gun capacity. We did several time trials with 3 targets and established that the primary limiting factor is the gun and its misfires.
playeratat-20090419164925.log: 73 88 15
playeratat-20090419165235.log: 18 30 12
playeratat-20090419165809.log: 26 36 10
Mean - 12.3 - approx 4.1 seconds per target
The new gun won't be useable with the existing hardware without downtime on software, so we're holding off using the new gun until the new hardware is complete in order to keep software development going. Unfortunately that means that our time trials are essentially invalid until then.
To bridge this, Daniel will be doubling down on his efforts to finalize the hardware this week.
This week:
The new DC Driver interface tested and integrated with PLAYER successfully.
We attempted some pixel mapping methods (such as opencv) but found that hard alignment of camera to target screen was easier an more effective.
We also attempted varying light conditions using the 1500 watt halogen but it intoduced a bunch of shadow that was inconsistent with the test environment anyways. We won't be using that anymore.
Sunday, March 22, 2009
TITI VOLUNTEERS FOR TARGET PRACTICE
Titi - Your sacrifice for science is appreciated.
Thanks Titi!
Software Day!
Today:
Implemented and debugged load/save config
Integrated auto-calibrate with load/save config
Implemented basic logging of target counts and times
Built power board for motor controller
Began testing new motor controller player interface
Morgan also helped here
Thanks Titi!
Software Day!
Today:
Implemented and debugged load/save config
Integrated auto-calibrate with load/save config
Implemented basic logging of target counts and times
Built power board for motor controller
Began testing new motor controller player interface
Morgan also helped here
Monday, March 9, 2009
ROBOT GUN TURRET 3/8/09
PREPARING FOR
ROBOGAMES 6/12 - 6/14 in San Francisco
Today:
Strengthened rotation with geared down motors
Reduced play with MORE METAL
Refined blobfinder capabilities for calibration
ROBOGAMES 6/12 - 6/14 in San Francisco
Today:
Strengthened rotation with geared down motors
Reduced play with MORE METAL
Refined blobfinder capabilities for calibration
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