2010:Autonomous: Difference between revisions

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*Near Zone
<u>'''All Zones'''</u>
**Kick in ball
***Line up – robot -&gt; ball -&gt; goal at start
****Angle to bump robot in direct line between ball and goal
***Drive forward enough to be in ‘possession’ of ball
***Use sensor to check if ball is in possession
***Camera to line up with goal
***Use kicking mechanism to kick in ball
***Back away from goal
***Move as close to the center line as possible
****Turn around to be ready to go over bump
*****Block own goal?
******Camera to find ball??
**Variable Delay for every action


<br>  
*<u>Option 0</u>:&nbsp;does nothing


*Middle Zone
<br>
**Be lined up directly with ball at start of match
***Balls to the side of Each Other
***Balls at diagonals?
***1st ball and robot lined up directly for perfect shot


**Kick over 1 ball (try to score)
<u>'''Near Zone - Kick ball in goal'''</u>
***Drive forward to ball
***Check if in possessions of ball
****Camera to line up with goal?
****Kick ball to try to get in goal  
******Possibly aim to score on opposing team


**Be in position to block tunnel
*Placement on field:
**Back up and try to score second ball
**Ball's 9x9 grid position: Near the edge of the field and near the goal (corner of grid)  
**Look for additional balls (score?)  
**Robot goes against bump and angled so there is a straight line from the middle of the robot to the ball to the goal (approx '''TBD'''&nbsp;feet from the side of the field)
**Get as close to the center line as possible
**Line up with bump to near zone


*Far Zone
<br>
**3 balls lined up in a line on the farthest possible marks
**Balls in straight line to make it easier to kick?
**Start in front of goal?
**Balls start at angle
**Kick ball to near zone
***Be careful of bouncing off wall out of field or across center line
***Just lob or try to score?
*****Score on opposing team?
**Block the opposing goal
**Drive to the bump get ready to go over


<br>  
*<u>Option 1</u> - Near Zone: score 1 ball with dead reckoning
**Delay based on control's setting
**Turn on beater brush
**Set kicking force to amount needed for the near zone
**Drive straight for '''TBD1''' distance or until Ball sensor detects the ball
**Drive straight for '''TBD2'''&nbsp;distance (if we need to get closer to goal)
**Kick ball (Score!!!)
**Backup '''TBD3'''&nbsp;distance (to get out of the way of other robots so they can kick balls into goal)
**Tilt camera down for tele-op


<br>  
<br>


*Kicker strength?
*<u>Option 2</u> - camera guided
*Kicker angleable?
**Delay based on control's setting
*Sensor to check center line and stop?
**Turn on beater brush
*Ball lift?
**Set kicking force to amount needed for the near zone
**Drive straight for '''TBD1''' distance or until Ball sensor detects the ball
**Drive straight for&nbsp;'''TBD2'''&nbsp;distance (if we need to get closer to goal)
**Turn using camera to find target
**Kick ball (Score!!!)
**Backup '''TBD3'''&nbsp;distance (to get out of the way of other robots so they can kick balls into goal)
**Tilt camera down for tele-op


<br>  
<br>


<br>  
*<u>Option 3</u> - placeholder if camera can see balls
**Same as&nbsp;option 2 for now


<br>  
<br>


<br>  
<u>'''Middle Zone'''</u>  


More Organized Ideas
*Placement on field:
**Ball 1's 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)
**Ball 2's 9x9 grid position: center
**Robot goes against bump and angled so there is a straight line from the middle of the robot to Ball 1 to the goal (approx '''TBD'''&nbsp;feet from the side of the field)


<br>  
<br>


Near Zone<br>1. Move up to ball x inches<br>2. Angle ball to goal x degrees using camera<br>3. Use kicker mechanism to kick ball in goal using x amount of force<br>4. Rotate x degrees away from goal to center line <br>5. Move back to center line x inches
*<u>Option 4</u> - dead reckoning
**Delay based on control's setting
**Turn on beater brush
**Set kicking force to amount needed for the middle zone
**Drive straight for '''TBD4''' distance or until Ball sensor detects the ball
**Kick ball (Score!!!)
**Turn '''TBDa1&nbsp;'''degrees towards Ball 2  
**Drive straight for '''TBD5''' distance or until Ball sensor detects the ball  
**Turn -'''TBDa1&nbsp;'''degrees to align with goal  
**Kick ball (Score!!!)
**Backup '''TBD6'''&nbsp;distance (to get out of the way of other robots)
**Title camera down for tele-op


Middle Zone<br>1. Move up to ball x inches <br>2. Use camera to angle aim x degrees to near zone<br>3. Use kicker mechanism to kick ball using x amount of force<br>4. Back up x inches<br>5. Turn to line up directly in front of ball<br>6. Rotate x degrees using camera so kicker mechanism can face ball<br>7. Repeat first three steps with other ball <br>8. Rotate x degrees away from bump to center line <br>9. Move up to center line x inches <br>10. Rotate x degrees to line up with bump to near zone
<br>


Far Zone<br>1. Move up to ball x inches <br>2. Use camera to angle aim x degrees to mid zone or near zone <br>3. Use kicker mechanism to kick ball using x amount of force<br>4. Turn to next ball x inches<br>5. Rotate x degrees to line up in front of ball <br>6. Use kicker mechanism to kick ball using x amount of force<br>7.Repeat this process with the third ball&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 8.Rotate x degrees to line up with opposing goal&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 9.Move up to opposing goal x inches&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10.Rotate x degrees to block opposing goal&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 11. Rotate x degrees to line up with bump to middle zone <br>12. Move up to bump to middle zone x inches <br>
*<u>Option 5</u> - camera guided
**Delay based on control's setting
**Turn on beater brush
**Set kicking force to amount needed for the middle zone
**Drive straight for '''TBD4''' distance or until Ball sensor detects the ball
**Turn using camera to find the target
**Kick ball (Score!!!)
**Turn '''TBDa1&nbsp;'''degrees towards Ball 2  
**Drive straight for '''TBD5''' distance or until Ball sensor detects the ball
**Turn -'''TBDa1&nbsp;'''degrees to align with goal
**Turn using camera to find the target
**Kick ball (Score!!!)
**Backup '''TBD6'''&nbsp;distance (to get out of the way of other robots)
**Tilt camera down for tele-op
 
<br>'''<u>Far Zone</u>'''
 
*Placement on field:
**Ball 1's 9x9 grid position: near the edge of the field, near robot
**Ball 2's 9x9 grid position: near the edge of the field, middle
**Ball 3's 9x9 grid position: near the edge of the field, near bump
**Robot goes against ramp in front of goal, not angled, so there is a straight line from the middle of the robot to all three balls
 
<br>
 
*<u>Option 6</u> - dead reckoning
**Delay based on control's setting
**Turn on beater brush
**Set kicking force to amount needed for the far zone
**Drive straight for '''TBD7''' distance or until Ball sensor detects ball 1
**Kick ball
**Drive straight for '''TBD8''' distance or until Ball sensor detects ball 2
**Kick ball
**Drive straight for '''TBD9'''&nbsp;distance or until Ball sensor detects ball 3
**Kick ball  
**Title camera down for tele-op
 
 
 
<br><u>'''The following are not being implemented (want to keep the info for now)'''</u>
 
<br>
 
*<u>Option 3</u> - Near Zone: if camera can see balls (if we can see balls on the field with the camera)
**Do option 2 if camera can find the target; otherwise do option 1
**Search for more balls (ones kicked into near zone from other zones)
***Tip camera down
***Drive back-n-forth/side-to-side to see ball
***Drive to ball, until Ball sensor detects the ball
***Drive towards goal, guided by the camera
***Kick ball
***Repeat by looking for next ball
 
<br>
 
*<u>Option 7</u> - Far Zone: camera guided (if we can see target from far zone AND can kick the entire length of the field)
**Delay based on control's setting
**Turn on beater brush
**Set kicking force to amount needed for the far zone
**Drive straight for '''TBD''' distance until Ball sensor detects the ball 1
**Turn/rotate using camera to find target
**Kick ball
**'Reverse' Turn/rotate the same amount it took to find the target (to be aligned with Ball 2)
**Drive straight for '''TBD''' distance until Ball sensor detects the ball 2
**Turn/rotate using camera to find target
**Kick ball
**'Reverse' Turn/rotate the same amount it took to find the target (to be aligned with Ball 3)
**Drive straight for '''TBD''' distance until Ball sensor detects the ball 3
**Turn/rotate using camera to find target
**Kick ball
**Tilt camera down for tele-op
 
<br>
 
*<u>Alternate endings</u> (low priority)
**Middle zone: Be in position to block tunnel (would need a sensor to make sure we don't go over the center line)
**Middle zone: Look for additional balls (would need to be able to detect balls with the camera)
**Far zone: Block the opposing goal (this can be done by placing robot in front of goal and doing nothing)
**Far zone: Drive to the bump get ready to go over (no longer see the need, but if, this can be done by driving straight for TBD&nbsp;distance)
 
<br>

Latest revision as of 09:41, 7 February 2010

All Zones

  • Option 0: does nothing


Near Zone - Kick ball in goal

  • Placement on field:
    • Ball's 9x9 grid position: Near the edge of the field and near the goal (corner of grid)
    • Robot goes against bump and angled so there is a straight line from the middle of the robot to the ball to the goal (approx TBD feet from the side of the field)


  • Option 1 - Near Zone: score 1 ball with dead reckoning
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the near zone
    • Drive straight for TBD1 distance or until Ball sensor detects the ball
    • Drive straight for TBD2 distance (if we need to get closer to goal)
    • Kick ball (Score!!!)
    • Backup TBD3 distance (to get out of the way of other robots so they can kick balls into goal)
    • Tilt camera down for tele-op


  • Option 2 - camera guided
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the near zone
    • Drive straight for TBD1 distance or until Ball sensor detects the ball
    • Drive straight for TBD2 distance (if we need to get closer to goal)
    • Turn using camera to find target
    • Kick ball (Score!!!)
    • Backup TBD3 distance (to get out of the way of other robots so they can kick balls into goal)
    • Tilt camera down for tele-op


  • Option 3 - placeholder if camera can see balls
    • Same as option 2 for now


Middle Zone

  • Placement on field:
    • Ball 1's 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)
    • Ball 2's 9x9 grid position: center
    • Robot goes against bump and angled so there is a straight line from the middle of the robot to Ball 1 to the goal (approx TBD feet from the side of the field)


  • Option 4 - dead reckoning
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the middle zone
    • Drive straight for TBD4 distance or until Ball sensor detects the ball
    • Kick ball (Score!!!)
    • Turn TBDa1 degrees towards Ball 2
    • Drive straight for TBD5 distance or until Ball sensor detects the ball
    • Turn -TBDa1 degrees to align with goal
    • Kick ball (Score!!!)
    • Backup TBD6 distance (to get out of the way of other robots)
    • Title camera down for tele-op


  • Option 5 - camera guided
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the middle zone
    • Drive straight for TBD4 distance or until Ball sensor detects the ball
    • Turn using camera to find the target
    • Kick ball (Score!!!)
    • Turn TBDa1 degrees towards Ball 2
    • Drive straight for TBD5 distance or until Ball sensor detects the ball
    • Turn -TBDa1 degrees to align with goal
    • Turn using camera to find the target
    • Kick ball (Score!!!)
    • Backup TBD6 distance (to get out of the way of other robots)
    • Tilt camera down for tele-op


Far Zone

  • Placement on field:
    • Ball 1's 9x9 grid position: near the edge of the field, near robot
    • Ball 2's 9x9 grid position: near the edge of the field, middle
    • Ball 3's 9x9 grid position: near the edge of the field, near bump
    • Robot goes against ramp in front of goal, not angled, so there is a straight line from the middle of the robot to all three balls


  • Option 6 - dead reckoning
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the far zone
    • Drive straight for TBD7 distance or until Ball sensor detects ball 1
    • Kick ball
    • Drive straight for TBD8 distance or until Ball sensor detects ball 2
    • Kick ball
    • Drive straight for TBD9 distance or until Ball sensor detects ball 3
    • Kick ball
    • Title camera down for tele-op



The following are not being implemented (want to keep the info for now)


  • Option 3 - Near Zone: if camera can see balls (if we can see balls on the field with the camera)
    • Do option 2 if camera can find the target; otherwise do option 1
    • Search for more balls (ones kicked into near zone from other zones)
      • Tip camera down
      • Drive back-n-forth/side-to-side to see ball
      • Drive to ball, until Ball sensor detects the ball
      • Drive towards goal, guided by the camera
      • Kick ball
      • Repeat by looking for next ball


  • Option 7 - Far Zone: camera guided (if we can see target from far zone AND can kick the entire length of the field)
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the far zone
    • Drive straight for TBD distance until Ball sensor detects the ball 1
    • Turn/rotate using camera to find target
    • Kick ball
    • 'Reverse' Turn/rotate the same amount it took to find the target (to be aligned with Ball 2)
    • Drive straight for TBD distance until Ball sensor detects the ball 2
    • Turn/rotate using camera to find target
    • Kick ball
    • 'Reverse' Turn/rotate the same amount it took to find the target (to be aligned with Ball 3)
    • Drive straight for TBD distance until Ball sensor detects the ball 3
    • Turn/rotate using camera to find target
    • Kick ball
    • Tilt camera down for tele-op


  • Alternate endings (low priority)
    • Middle zone: Be in position to block tunnel (would need a sensor to make sure we don't go over the center line)
    • Middle zone: Look for additional balls (would need to be able to detect balls with the camera)
    • Far zone: Block the opposing goal (this can be done by placing robot in front of goal and doing nothing)
    • Far zone: Drive to the bump get ready to go over (no longer see the need, but if, this can be done by driving straight for TBD distance)


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