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| = Autonomous Requirements = | | = Autonomous Requirements = |
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| = Robot Priorities = | | = Robot Priorities = |
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| {| border="1" cellspacing="1" cellpadding="1" style="width:500px;" | | {| style="width: 500px;" cellpadding="1" cellspacing="1" border="1" |
| |- | | |- |
| | style="text-align: center;" | '''Task''' | | | style="text-align: center;" | '''Task''' |
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| = Match Predictions = | | = Match Predictions = |
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| {| border="1" cellspacing="1" cellpadding="1" style="width: 647px;" | | {| style="width: 647px;" cellpadding="1" cellspacing="1" border="1" |
| |- | | |- |
| | <br/> | | | <br/> |
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| = Autonomous mode requests = | | = Autonomous mode requests = |
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| {| border="1" cellspacing="1" cellpadding="1" style="width:800px;"
| | == [http://penfieldrobotics.com/wiki/index.php?title=2016:Robot_IO_Map http://penfieldrobotics.com/wiki/index.php?title=2016:Robot_IO_Map]Controls == |
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| ! scope="row" | Auto Name
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| ! scope="col" | Description
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| ! scope="col" | Extra Details<br/>
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| ! scope="col" | Starting position
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| |-
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| ! scope="row" | Auto 1
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| ! scope="col" | Go Under Low Bar
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| ! scope="col" | <br/>
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| ! scope="col" | Anywhere - in line with a defense
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| |-
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| ! scope="row" | Auto 2
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| ! scope="col" | Description
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| ! scope="col" |
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| ! scope="col" | in line with low bar
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| |-
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| ! scope="row" | Auto 3
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| ! scope="col" | Low Bar and reset for another one (ready to go under again in teleop)
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| ! scope="col" |
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| ! scope="col" | in line with low bar
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| |-
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| ! scope="row" | Auto 4
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| ! scope="col" | Rough Terrain, rock wall, ramparts, moat
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| ! scope="col" |
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| ! scope="col" | in line with the respective defense
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| |-
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| ! scope="row" | Auto 5
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| ! scope="col" | Auto With Delay/ stack behind bots
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| ! scope="col" | Delay of any of the other modes, with added knowledge of being next to another robot that has taken the most preferable (straight on) approach to the defense<br/>
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| ! scope="col" | slightly off to one side of a defense
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| |-
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| ! scope="row" | Auto 6
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| ! scope="col" | Low Score + Low Bar
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| ! scope="col" |
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| ! scope="col" | in line with low bar
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| |-
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| ! scope="row" | Auto 7
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| ! scope="col" | Portcullis and Score
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| ! scope="col" |
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| ! scope="col" | in line with porticullis
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| |}
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| == Controls == | | === Driver Station feedback === |
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| === Controller 1 ===
| | #Camera Feed toggle |
| | | #Breacher has ball |
| {| class="wikitable"
| | #Breacher pivot position |
| |-
| | #scaler rotation |
| | Action/Button
| | ##able to extend [<15"] |
| | Description
| | ##in optimal position |
| | Details
| | #arm locked/unlocked |
| |-
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| | Left Joystick Y
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| | Moves the robot forward / back
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| | "Up drive the robot forward (Breacher Side)<br/>Down drives the robot backward (Scaler Side)"
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| |-
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| | Right Joystick X
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| | Turns the robot Left / Right
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| | ""Right will turn the robot clockwise and vice<br/>versa. With no input from the left Joytick,<br/>does point turn. With input from left, does<br/>curve turn""
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| |-
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| | Left Trigger
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| | Turbo mode for left wheels
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| | "Increases the range of power to the left<br/>motors by a set amount. Amount tbd"
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| |-
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| | Right Trigger
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| | Turbo mode for Right wheels
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| | "Increases the range of power to the Righ<br/>motors by a set amount. Amount tbd"
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| |-
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| | Left Bumper
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| | Slow mode for left wheels
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| | "Decreases the range of power to the left<br/>motors by a set amount. Amount tbd"
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| |-
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| | Right Bumper
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| | Slow mode for Right wheels
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| | "Decreases the range of power to the Right<br/>motors by a set amount. Amount tbd"
| |
| |}
| |
| | |
| === Controller 2 ===
| |
| | |
| {| class="wikitable"
| |
| |-
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| | Action/Button
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| | Description
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| | Details
| |
| |-
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| | Left Joystick Up
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| | Breacher down
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| | Breacher Rotates forward / toward the ground
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| |-
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| | Left Joystick Down
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| | Breacher up
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| | Breacher Rotates backward / toward the sky
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| |-
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| | Right Joystick Up
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| | Scaler extend
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| | Scaler telescopes upward
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| |-
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| | Right Joystick Down
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| | Scaler retract Scaler
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| | telescopes downward
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| |-
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| | Right Bumper
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| | intake
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| | "Spins the intake wheels as to intake a ball<br/>into the robot"
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| |-
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| | Right Trigger
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| | Shoot
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| | "Spins the intake wheels as to outtake a ball<br/>out of the robot"
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| |-
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| | X button
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| | Rotate Scaler up
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| | Scaler rotates upward
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| |-
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| | B button
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| | Rotate Scaler downward
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| | Scaler rotates downward
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| |-
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| | "Left Trigger + Dpad<br/>down"
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| | Arm Lock
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| | Rotates servo to lock Scaler arm in place
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| |-
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| | "Left Bumper + Dpad<br/>Up"
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| | Arm Unlock
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| | "Rotate servo to unlock Scaler arm and allow<br/>telescoping action"
| |
| |}
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| | |
| === Broken Switches ===
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| | |
| {|
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| |Broken Switch1
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| |Breacher Pivot Potentiometer broken
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| |-
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| |Broken Switch2
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| |Breacher Intake Beam Break Broken
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| |-
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| |Broken Switch3
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| |Arm rotate "??????????? <br /> Encoder"
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| |-
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| |Broken Switch4 Arm telescope
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| |"Encoder <br /> ???????????"
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| |}
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