###### tags: `程式組工筆` # 20220905 ~ 20220911 # 20220906 ## 林俊彥 I did so many things " MAYBE " Hummmm... On Tuesday i practiced programming Command Base and did every step in a wrong way So on this foundation I , Me , gonna practice more in order to improve my skill . ## 粘家榆 Today, we tested the code of Command Based. Because I forgot to reset the gyro, the robot got on the wrong way. At first, I did't really know how to write that code. After we discussion, I knew the meaning of the programs and tested it successfully. ## 魏旭霆 We tested command based at Tuesday.Because we had to let robot run in shape like lighting.So I put my code in two parts.One was turned left,amd the other one was turned left.And it finally succeed after we fixed the problem of degrees. I still learned a function called "SequentialCommandGroup",and it can let us put many different subroutines and work. ## 倪睿宏 Today, we finished the test of command-based project. Our point is to make robot move in a shape like :zap: . About my code, I made two commands to control the robot, which are DriveForward and DriveRotation. As you can see, I make the leftturn command and the rightturn command into one stuff. The method is really simple, just use a boolean to control turning right or left (Actually Aaron came up with this idea www). During the progress, we faced a problem. The robot couldn't turn smoothly, it just spining around or go to the north straightly. We finally found the reason - the measuring method of gyro is generalized angle, which means it wouldn't return to 0 degree when it turned a full circle. We solved this problem using a simple way. Just reset the gyro when the DriveRotation command was called. https://github.com/Hong4507/Command-Based-0811 ## 江宥伶 Today we finished testing the command-based. What we have to do is to make the robot run in a shape of lightning. Actually I forgot to bring my computer, so I tested the programming with Crystal. I had no idea at first, but after other's helping, I know how the programs run and what they mean. When we started testing the code, we found out that our robot can't move the lightning shape. Aaron helped us checked the code and finally finished! ## 彭柏鈞 Today we started the class by finishing the work we hadn't done----the :zap: shaped trail. After adjusting some variables, my car went out in a lightning-shaped trail----while it really went in that shape instead of a vertical right and left turn. Miraculously, it still remained straight after the whole process, that made Aaron(maybe) and I surprised. After finished my programming, I helped others to finished the code, which after I felt really exhausted, so that when I received the request of coding the turn to PID, I stayed laying on the ground and doubting life.![躺平](http://i1.kknews.cc/RSBEhogxLIvjUFAMnCZVd--QAmzZE6OHxA/0.jpg) ## Aslan After I completed the robot test today, I will deal with the things that will be used in other courses in the future ~ LMAO ## 施暄庭 I wasn't able to come cuz my family member got Covid, but I still spend my time at home writing the command based code. I'll test it out in person when I recover. ## 王敬銜 I finished the project of letting the robot do a z-shaped movement (including the PID rotation part (the maxium error is about +-4 degrees)) # 20220908 ## 倪睿宏 Today Henry taught us the concept of motion profiling and feedforward control. As for the motion profiling part, to be honest, ~~I don't understand what he was saying xDDDD~~. I just know motion profiling is more precise than PID control. Feedforward controller is also a cool stuff. Different from PID controller, a kind of Feedback controller, adjusting the values once finished the progress, Feedforward controller sets the whole values well, so it wouldn't change during the progress. (Plz correct me if I'm wrong.) ## 魏旭霆 Henry taught us a better way than PID and it call Feed Forward. Although I know it was a really good way to control our robot to the distance precisely,and I can understand the logic a little,but I still don't know how to write it. ## Aslan ### Brief Progress * Meetings * About the future of programming team * Discuss the worknote * I don't want to write this daily ANYMORE * Teaching * FeedFoward `by Henry` * Motion Profile * Trapezoid * Feedforward vs PID * Pair, a little Hierarchical Traversal ( ? `by myself` * The only thing I know is that I speak very terrible ## 江宥伶 Today Henry taught us about Feed Foward, which is better(? than PID. He taught us in English and some proper nouns are difficult, so I translate them all the time haha. I can recognize a bit what he talked but still a difficlut. I think that learning it in Chinese is hard enough ha. By the way, we're sorry for being late and we asked for leave at the wrong place:( ## 彭柏鈞 In today's class Henry taught us about a brainstorming but somehow sounds better than PID, which is named FeedForward. However, when he show us the graph and the data he has tested, I emptyed my mind again. For the god's sake we needed to learn the I think is the most difficult thing I've ever learn in the programming team before Moon Festival, when I was finally home, I just...well, here's an image of what I was doing when I got home.![躺平again](https://imgs.gvm.com.tw/upload/gallery/20210706/80732_02.jpg) By the way, because of the Moon Festival, many team members took a day of to...barbeque, yeah. We took that as a sample, and went to our "Moon Festival hell hot pot rampage tour". and soon, we were all late for class. <!--// NO　CHINESE :))) You can use english to explain what you want to present why🥲🥲🥲🥲🥲🥲🥲I just want to express myself oh okay but how about the 中秋地獄火鍋暴走之旅 IDK Maybe you can ask Google okay fine🥲--> ## 粘家榆 This time, Henry told us some basic knowledge about Feed Forward. It is better than PID and the error value is relatively small. In the class, Henry showed us a lot of data and some charts. That really helped me to understand Feed Forward more. ## 黃湲宸 Today Henry taught us about Feed Forward, that is something better than PID. At first, actually I can't understand some parts of it because he taught us in English, and there were lots of difficult vacabulary, so my friend and I had use the Google translate to understand more easily. ## 施暄庭 Still not able to come to class cuz I got Covid too..., I'll watch the video Henry posted, trying to catch up with the others. ## 王敬銜 We learn feed forward and motion profiling. That's all :D.