Coverting a driver run to autonomous

I was just wondering if there’s a way to copy a drive session to our autonomous program?

Thanks in advance

Yes. :smiley:

Could you elaborate on this a little more? What program are you using and what exactly do you want to do?

I’m using EasyC and I want to recreate a driver run in autonomous

Also iAndr0idOs could you explain how to do it in a video like a tutorial?

I used RobotC for that, and I have no idea how to use EasyC. It’s really simple though. Just use the first solution that comes to mind. It’ll probably work.

In that video that you converted the driver run to autonomous did you use sensor values or timing when you played the driver run back in autonmous?

I know of a few teams that do this. I believe it was NAR at Worlds last year that told me they accomplished this using a few encoders on their robot.

I used purely encoder values

This is very interesting. A member of a team in our school (1727A) in Baltimore Maryland created a program using the Purdue OS IDE (Pros?) to recreate a driver run to autonomous. It works with fairly high accuracy. I’m not exactly sure how it works, though. All I know is that he has PROS output some values and he created a separate program to parse that information which he then copy/pasted into his autonomous program.

We all thought it was mindblowing lol

We just currently bought robot c and are working on it, but we did do the similar thing with easy c. Except that we use print encoder value to screen to record each single piece of motion and document them and integrate them in easy c. Motor encoders just work for everything, and add a gyro if you expect more precision.

I am the member of 1727A that wrote the recording software (states edition, we didn’t qualify for worlds :frowning: ) and i can do a small explanation of it:

  • Using the PROS implementation of the file system it records the requested drive PID targets as well as requested arm position as well as intake/output values and stores it to a approx 6kb array of structures. This is then written to a binary file on the cortex

-The robot has 5 drive routines: 1 for game and 4 for recording for each starting point. The recording routines are implemented through PID loops attached to the digital buttons as to remove any sort of play in the driver’s abilities.

  • During initialization the file for the selected autonomous is read.

  • During playback I run 2 PID control loops for the 2 sides of the drive as well as functions for reading in the arm position and intake/output values

  • Having the entire recording be only on the cortex speeds up recording times.

PS. What my teammate is describing was v0.1 which was very crude and did not work as well as it does now.

Has anyone figured out how to run this program on easyC?