truher Goto Github PK

FRC stuff I've been up to lately:

• FRC Test: a collection of FIRST robotics stuff I'm playing with
• FRC Vision: Stuff related to the older retroreflective vision system:
  • Global pose estimation and simulation, using OpenCV and stereo cameras.
  • Detailed safety and sensitivity analysis of a bright monochromatic illuminator.
  • Electrical design for the illuminator.
• Optic Sim: photon simulation of the vision illuminator/reflector/detector mentioned above, using CuPy to run millions of photons in reasonable time.
• FRC Tone: a Java app for the Driver Station that produces AIM-9 targeting audible tones, intended for semi-autonomous driver feedback.
• FRC Logs: a place to put RoboRIO logs recorded to USB by DataLogManager.
• FRC Analysis: an example of log analysis using Python.
• FRC Console: a modular operator console design based on Arduino, with some examples of joysticks, buttons, absolute and incremental rotary encoders, and audio output.
• FRC CAN Dissector: a Lua plugin for Wireshark that decodes FRC CAN bus messages (e.g. motor controller commands, heartbeats, etc)
• FRC CAN Logger: a Teensy (Arduino) app that listens to CAN bus messages through a Waveshare tranceiver and writes them to SD. Also a little bracket to hold the Teensy and transceiver.
• Swerve Sim: a simple simulation of swerve drive, using "perfect" forward kinematics. This would be useful for navigational simulation.
• Radar: a driver station dashboard that shows robot-centric and field-centric views of a few kinds of target poses read from Network Tables. It's an example of an NT4 app.
• Swervo: low cost swerve drive trainer, using servos for driving and steering.

Other projects:

• Power Logger: hardware and software for residential electric power measurement, using a Teensy and many CT coils.
• Rocket Instrument: hardware and software for a logging accelerometer and pressure sensor for high-power model rocketry, based on the Sparkfun Artemis platform.
• Water: hardware and software for domestic water consumption measurement, using a magnetic sensor and a conventional nutating meter.

Folk I work with:

• FRC Team 100: Woodside High School Robotics
• FRC Team 8048: East Palo Alto Robotics

Ways to contact me:

• [email protected] (best)
• @[email protected]

Older projects:

• Notes: stuff from 2009-2013 that I don't want to delete