2010:Autonomous: Difference between revisions

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NOTE: this is a work in progress
<u>'''All Zones'''</u>


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


*Variable Delay to start
<br>
*Option that does nothing
 
<br>  


<u>'''Near Zone - Kick ball in goal'''</u>  
<u>'''Near Zone - Kick ball in goal'''</u>  


*Placement on field:  
*Placement on field:  
**Ball goes on 9x9 grid position: Near the edge of the field and near the goal (corner of grid)<br>
**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'''&nbsp;feet from the side of the field)
**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)


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


*<u>Option 2</u> - camera guided  
*<u>Option 2</u> - camera guided  
**Delay based on control's setting
**Turn on beater brush
**Set kicking force to amount needed for the near zone  
**Set kicking force to amount needed for the near zone  
**Drive straight for '''TBD''' distance until Ball sensor detects the ball  
**Drive straight for '''TBD1''' distance or until Ball sensor detects the ball  
**Drive towards goal, up to '''TBD'''&nbsp;distance, guided by the camera (e.g. turn at an angle)<br>
**Drive straight for&nbsp;'''TBD2'''&nbsp;distance (if we need to get closer to goal)  
**Turn using camera to find target
**Kick ball (Score!!!)  
**Kick ball (Score!!!)  
**Backup '''TBD'''&nbsp;distance (to get out of the way of other robots so they can kick balls into goal)<br>
**Backup '''TBD3'''&nbsp;distance (to get out of the way of other robots so they can kick balls into goal)  
**Tilt camera down<br>
**Tilt camera down for tele-op
 
<br>


*<u>Option 3</u> - if camera can see balls(this is low priority)<br>
*<u>Option 3</u> - placeholder if camera can see balls  
**Do option 1 or 2  
**Same as&nbsp;option 2 for now
**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>  
<br>


<u>'''Middle Zone'''</u>  
<u>'''Middle Zone'''</u>  


*Placement on field:  
*Placement on field:  
**Ball 1 goes on 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)<br>
**Ball 1's 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)  
**Ball 2 goes on 9x9 grid position: center  
**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)
**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)


*<u>Option 1</u> - dead reckoning  
<br>
 
*<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  
**Set kicking force to amount needed for the middle zone  
**Drive straight for '''TBD''' distance until Ball sensor detects the ball  
**Drive straight for '''TBD4''' distance or until Ball sensor detects the ball  
**Kick ball (Score!!!)  
**Kick ball (Score!!!)  
**Turn '''TBD&nbsp;'''degrees towards Ball 2  
**Turn '''TBDa1&nbsp;'''degrees towards Ball 2  
**Drive straight for '''TBD''' distance until Ball sensor detects the ball  
**Drive straight for '''TBD5''' distance or until Ball sensor detects the ball  
**Turn -'''TBD&nbsp;'''degrees to align with goal  
**Turn -'''TBDa1&nbsp;'''degrees to align with goal  
**Kick ball (Score!!!)  
**Kick ball (Score!!!)  
**Backup '''TBD'''&nbsp;distance (to get out of the way of other robots)  
**Backup '''TBD6'''&nbsp;distance (to get out of the way of other robots)  
**Title camera down<br>
**Title camera down for tele-op
 
<br>


*<u>Option 2</u> - camera guided  
*<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  
**Set kicking force to amount needed for the middle zone  
**Drive straight for '''TBD''' distance until Ball sensor detects the ball  
**Drive straight for '''TBD4''' distance or until Ball sensor detects the ball  
**User camera to make sure we are aligned with the goal
**Turn using camera to find the target
**Kick ball (Score!!!)  
**Kick ball (Score!!!)  
**Turn '''TBD&nbsp;'''degrees towards Ball 2  
**Turn '''TBDa1&nbsp;'''degrees towards Ball 2  
**Drive straight for '''TBD''' distance until Ball sensor detects the ball  
**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  
**Turn using camera to find the target  
**Kick ball (Score!!!)  
**Kick ball (Score!!!)  
**Backup '''TBD'''&nbsp;distance (to get out of the way of other robots)  
**Backup '''TBD6'''&nbsp;distance (to get out of the way of other robots)  
**Tilt camera down<br>
**Tilt camera down for tele-op


*<u>Alternate endings</u> (low priority)
<br>'''<u>Far Zone</u>'''
**Be in position to block tunnel (would need a sensor to make sure we don't go over the center line)<br>
 
**Look for additional balls (would need to be able to detect balls with the camera)
*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


'''<u></u>'''<br>  
<br>


'''<u>Far Zone</u>'''  
*<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


*Placement on field:
**Ball 1 goes on 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)<br>
**Ball 2 goes on 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>


*3 balls lined up in a line on the farthest possible marks
<br><u>'''The following are not being implemented (want to keep the info for now)'''</u>
*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>  
<br>


<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


*Sensor to check center line and stop?
<br>
*Ball lift?
 
*<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)


More Organized Ideas <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<br>8.Rotate x degrees to line up with opposing goal<br>9.Move up to opposing goal x inches<br>10.Rotate x degrees to block opposing goal<br>11. Rotate x degrees to line up with bump to middle zone <br>12. Move up to bump to middle zone x inches <br>
<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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