|2013 Robotics Competition|
March 21, 2013 at Morgan State University
Basic Skills Event
This event consists of three tasks demonstrating basic robot programming skills. Any team that successfully completes at least one of these tasks will earn a certificate.
./tekkotsu-CALLIOPE2SP -c mirage.plist Drivers.Mirage.InitialLocation.2=500
This task will be done using a Calliope2SP robot in a 1 meter by 2 meter rectangular arena with white walls and an AprilTag on one short wall marking a goal location. Three colored cylinders will be scattered around the arena, far from the goal. The robot must locate each cylinder, pick it up using its gripper, and transport it to the goal location, defined as by a 2x2 foot box below the AprilTag. The robot must drop each cylinder in the goal location. All three cylinders must be transported within 5 minutes. Scoring will be based on the number of cylinders transported; ties will be broken by time.
The red plastic Folgers coffee canisters used in last year's manipulation task are recommended for this competition event, but some teams may prefer to use empty soda cans wrapped in colored masking tape. Each team will be allowed to supply its own cylinders.
There is a demo file ArtsiCanister1.cc.fsm showing how to detect canisters and operate the arm.
Note: make sure the Calliope's camera is set to wide angle view, not close-up view, or the MapBuilder's coordinate calculations will be off. The camera lens rotates to change settings; make sure it's set to the blue dot, not the red dot.