2014:Autonomous: Difference between revisions
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= Overview = | = Overview = | ||
*Outline of | *NOTE: Estimated/ Preliminary Times Used | ||
* | *Outline of 2 High Autonomous Programs: 1 Ball Detect (High Goal) and 2 Ball High Goal | ||
*Outline of 4 Low Priority Autonomous Programs: Simple Mobility, Complex mobility Right, Complex mobility Left, Dead | |||
= Needed Mechanisms and Capabilities = | = Needed Mechanisms and Capabilities (Assumed Values) = | ||
* | *Assumed Capabilities | ||
**Ability to Shoot from White Zone | |||
**Ability to Sense Hot Goal via image processing and camera | |||
**Ability to traverse the field | |||
*Assumed Values | |||
**Fire Preloaded Ball (1 sec) | |||
**Drive forward Completely into Colored Zone for mobility bonus and reset Kicker (1 Sec) | |||
**Detect Hot Goal and Interpret Results (2 Sec) | |||
**Drive From Colored Zone to halfway under Truss (2 Sec) | |||
**Intake Ball after Preloaded ball is shot (3 Sec) | |||
***Includes all of the following: Reset kicker position, lower intake/cradle arms, suck ball into robot, settle time for the ball (if applicable or necessary), raise ball/cradle into firing position | |||
[[File:Aerial assist auto.jpg|1000x557px|Aerial assist auto.jpg]] | |||
= 1 Ball Detect Auto (High Goal) = | |||
*The auto mode would be one program with two outputs based on whether or not the program determines the goal is "Hot" | |||
*Starting Position: Perpendicular to the goal and as close to the colored zone as possible loaded with 1 ball(see diagram) | |||
* | *Timeline 0-2 Sec: Detect if Goal is Hot by processing the image from the camera and move craddle to kicking position | ||
**At this point the Program changes based on if the Goal is classified as "Hot" or "Not Hot" | |||
*Timeline 2-3 move forward 2 feet | |||
*Timeline 3-5 shoot ball if goal is hot | |||
*Timeline 5.5-10 shoot ball if ball has not been shot yet | |||
= 2 Ball Auto (High Goal, 1 hot 1 not) = | |||
*Starting Position: Perpendicular to the goal and as close to the colored zone as possible loaded with 1 ball and with 1 ball behind robot (see diagram) | |||
*Timeline 0-2 sec move forward 2 feet | |||
*Timeline 2-3 shoot ball (no matter the state of the goal) | |||
*Timeline 3-5 Move backwards until robot is infront of second ball | |||
*Timeline 5-6 Aquire second ball | |||
*Timeline 6-8 Move forward 2 feet | |||
*Timeline 8-10 shoot ball (no matter the state of goal) | |||
= = | |||
= | = Dead Mode = | ||
* | *Starting position: Goalie Zone | ||
*Timeline 0-10 Sec: Do Nothing | |||
**(Can be modified if a blocker is made) | |||
**(Blocker would be up if applicable) | |||
*Purpose: 2 Ball Auto for alliance partner, get closer to alliance station for first assist/cycle | |||
= = | = = | ||
Latest revision as of 14:41, 4 February 2014
Overview
- NOTE: Estimated/ Preliminary Times Used
- Outline of 2 High Autonomous Programs: 1 Ball Detect (High Goal) and 2 Ball High Goal
- Outline of 4 Low Priority Autonomous Programs: Simple Mobility, Complex mobility Right, Complex mobility Left, Dead
Needed Mechanisms and Capabilities (Assumed Values)
- Assumed Capabilities
- Ability to Shoot from White Zone
- Ability to Sense Hot Goal via image processing and camera
- Ability to traverse the field
- Assumed Values
- Fire Preloaded Ball (1 sec)
- Drive forward Completely into Colored Zone for mobility bonus and reset Kicker (1 Sec)
- Detect Hot Goal and Interpret Results (2 Sec)
- Drive From Colored Zone to halfway under Truss (2 Sec)
- Intake Ball after Preloaded ball is shot (3 Sec)
- Includes all of the following: Reset kicker position, lower intake/cradle arms, suck ball into robot, settle time for the ball (if applicable or necessary), raise ball/cradle into firing position
1 Ball Detect Auto (High Goal)
- The auto mode would be one program with two outputs based on whether or not the program determines the goal is "Hot"
- Starting Position: Perpendicular to the goal and as close to the colored zone as possible loaded with 1 ball(see diagram)
- Timeline 0-2 Sec: Detect if Goal is Hot by processing the image from the camera and move craddle to kicking position
- At this point the Program changes based on if the Goal is classified as "Hot" or "Not Hot"
- Timeline 2-3 move forward 2 feet
- Timeline 3-5 shoot ball if goal is hot
- Timeline 5.5-10 shoot ball if ball has not been shot yet
2 Ball Auto (High Goal, 1 hot 1 not)
- Starting Position: Perpendicular to the goal and as close to the colored zone as possible loaded with 1 ball and with 1 ball behind robot (see diagram)
- Timeline 0-2 sec move forward 2 feet
- Timeline 2-3 shoot ball (no matter the state of the goal)
- Timeline 3-5 Move backwards until robot is infront of second ball
- Timeline 5-6 Aquire second ball
- Timeline 6-8 Move forward 2 feet
- Timeline 8-10 shoot ball (no matter the state of goal)
Dead Mode
- Starting position: Goalie Zone
- Timeline 0-10 Sec: Do Nothing
- (Can be modified if a blocker is made)
- (Blocker would be up if applicable)
- Purpose: 2 Ball Auto for alliance partner, get closer to alliance station for first assist/cycle
