Hello, I’m Jim Wright a software engineer from Ri3D Team Redacted, a mentor for FRC Team 4089 - Stealth Robotics, and a mentor for FRC Team 2980 - The Whidbey Island Wild Cats. The whole Team Redacted is not participating in Robot in Three Days (Ri3D), however, I felt with the amount of software changes to the WPI library, as well as, the Nvidia Jetson Nano, and the Raspberry Pi 4, a software only Ri3D-ish project would be good for the F.I.R.S.T. community. So, this is my only person Ri3D page.

I’m going to be focusing on four different categories of software. First is path planning, just getting the base from one place to another in a smooth fashion. Next is image processing, seeing things on the field. Third is distance processing, once the robot identifies things on the field, how far away are they? Lastly, sensor, this will include line sensing and wall sensing.

I’m going to start this project with two bases that are already built. I really don’t want to take the kickoff time to build the bases, so I’ve got two I’m going to use. The Tyrannosaurus Wombat. This is a standard Andy Mark chassis, with four mini-Cims, using what a average FRC team would have available to them.

The second is the Tasmanian Koala. I wanted the most cutting edge components on it. The Falcon Motors did not ship in time, to I put Rev Neos on it. It also has the new Cancoders, as well as, a Nvidia Jetson Nano. Specifications for both robots are found on their individual pages.

I began on Saturday upgrading both robots to the 2020 Roborio image. I then characterized the Tasmainian Koala. Through this I found that some of the hardware needed some rework. I got through the characterization of the robot but some of the values were not making sense, and I went back to using the T-Wombat. When I left the field house I felt I knew enough about characterize a robot and run the Ramsete Command, however, I was really not the person to make a demo of it since the people at WPI are planning on writing up one, and I will wait for it.

I started Sunday morning trying to figure out what to do. Then in the shower it dawned on me that I was going to use the WPI Raspberry PI Vision Image and find the color pattern around the low goal. I felt that this was something I would be good at, and people can apply it to finding the ball on the field at well. So I focused all of Sunday on Image Processing and showing off the new PID Command code.

This sub-site on my web page is going to be very dynamic for a bit of time, so I ask you to pardon any formatting, grammar, or spelling problems until after April.