Driver & Human Player Views:Lines of Sight

Siri Maley

FIRST Team 1640, 28 January 2011

Simulation GoalVisibility (and lack thereof) plays a huge role in

LogoMotion.CAD isn’t the optimal way to check this, but it can show some

things.

What does the human player see? What limits driver vision? Can we optimize our designs for this? How close is this simulation? (correct next

year) First attempt after ~130 matches behind the glass

Inventor ModelLoS Test.iam

Use Perspective Camera Mode(View Appearance Perspective)

Limitations: Field of view – manual; Inventor doesn’t control

this well Reflections – not replicated; a perennial driving

difficulty Contrasts – sometimes better sometimes worse

Views are not supposed to be photographic

See Also: Team Titanium Blank Field Simulation Blake’s 5th Gear (coming soon)

Bird’s Eye

Not as crowded as 2007, but worse than it looks.

Bird’s Eye

Traffic jam (think 2009)

View from the Front (far DSs)

Note: Polycarbonate wall is much more reflective

View from the Front (DS 2)

Those center guys have it easy

Eating at the Right Station (from DS3)

Good thing we’ve got that claw sensor…

Eating at the Left Station (from DS3)

…very good.

Scoring View (far grid – low)

Think 2010 far goal, but with taller robots in the way.

Scoring View (far grid – mid)

Not far-side 2007 hard, but not easy per say.

Scoring View (far grid – top)

Not far-side 2007 hard, but not easy per say.

Scoring View (near grid – mid Ubertube)

Something to practice

Scoring – Lessons Learned Practice Tube release & back up

Plan on limited vision, make it second-nature Practice scoring over Ubertubes

Shouldn’t a major problem Practice feeding station pickup

Doesn’t change – shouldn’t need significant visual Analyst stay centered

Feeders need to get used to maintaining LoS Coaches will move, Operator may want to

Worth examining full-scale – would have been nice in 2007

Mirrors?

Minibot Alignment Orientations

Directness vs. Safe Lane trade-off

Not easy to reach

Easier to reach

Minibot Alignment (near edge)

Getting around (quickly) won’t be easy

Minibot Alignment

Doesn’t hurt to race on your own edge (L/R)

Minibot Alignment (open court)

Straighter access, but we’ll see how <G25> plays out.

<G25> During the END GAME, ROBOTS/HOSTBOTS in contact with their ALLIANCE’S TOWER are protected and may not be contacted by an opponent. Violation: PENALTY for inadvertent contact; plus a RED CARD for obviously intentional contact.

Lessons Learned – Minibot Alignment Probably won’t miss entirely (contrary to

original assessment) Probably will have trouble getting/staying

precisely on target Not going to be fun (or fast) to get around.

Practice Alignment works even with defense

Want largest funnel mouth opening possible Robust rather than flexible re-direct

Since we probably won’t miss entirely If we do lose visibility entirely: on the coach (Doubt we need sensor feedback)