T-1 autonomous mode

 T-1-FNY Autonomous Mode

Definition of Autonomous = Independent and having the power to make your own decisions. 

It always makes me laugh when people advertise props at Comic Cons saying they are Autonomous not really having a clue what the word actually means.

It was always the plan to give T-1-FNY a few autonomous features

So how does this relate to our T-1?

Given her size and weight unfortunatley there are features that we can simply not make autonomous (the PLI  wont allow it.)

Having a 300kg robot run out of control and using the excuse she was doing it because she wanted to would not cut much weight in a court of law.

The autonomous features on the T-1-FNY will be limted to her head. body, guns and shoulder movements. As well as operating in autonomous mode she will need a RC full override which can be switched in at any given moment

This switching duty will be handled by the small but very capable Pololu 4Ch RC Multiplexer. 

With this tiny board we will be able to input both control signals from a Pololu Maestro

and FrSky TDR18 reciever and using a switch on the RC transmitter switch between the two.

The Pololu Masestro board will run a series of programs which will be triggered in turn by triggers sent from the Raspberry Pi 4 using the Object recognition software. 

In effect what this means is that certain objects or colours detected will trigger a program which will inturn control the head servos. Depending on the percentage probability that the robot has detected the object will determin which script on the Pololu runs. It sounds complex but in reality is very simple.

The T-1 will appear to react differently to varying inputs from the camera.

In effects she will chose which program to run depening in the probability that she is seeing the target object.

As I deverlop this autonomous mode I will add more scripts which will also control the shoulder, guns and lifts.