2010:Autonomous: Difference between revisions

From 1511Wookiee
Jump to navigationJump to search
No edit summary
No edit summary
Line 4: Line 4:


*Variable Delay to start  
*Variable Delay to start  
*Turn off on beater brush
*Option that does nothing
*Option that does nothing


Line 11: Line 12:


*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)<br>  
**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)


Line 45: Line 46:


*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)<br>  
**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)


Line 81: Line 82:


*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: near center line, near robot<br>
**Ball 2 goes on 9x9 grid position: center  
**Ball 2's 9x9 grid position: near center line, middle<br>
**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)
**Ball 3's 9x9 grid position: near center line, near bump
**Robot goes against bump, not angled, so there is a straight line from the middle of the robot to all three balls


<br>  
<br>  


*3 balls lined up in a line on the farthest possible marks
*Balls in straight line to make it easier to kick?  
*Balls in straight line to make it easier to kick?  
*Start in front of goal?  
*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  
*Block the opposing goal  
*Drive to the bump get ready to go over
*Drive to the bump get ready to go over

Revision as of 10:29, 30 January 2010

NOTE: this is a work in progress


All Zones

  • Variable Delay to start
  • Turn off on beater brush
  • Option that 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 - dead reckoning
    • Set kicking force to amount needed for the near zone
    • Drive straight for TBD distance until Ball sensor detects the ball
    • Drive straight for TBD distance (to get closer to goal)
    • Kick ball (Score!!!)
    • Backup TBD distance (to get out of the way of other robots so they can kick balls into goal)
    • Tilt camera
  • Option 2 - camera guided
    • Set kicking force to amount needed for the near zone
    • Drive straight for TBD distance until Ball sensor detects the ball
    • Drive towards goal, up to TBD distance, guided by the camera (e.g. turn at an angle)
    • Kick ball (Score!!!)
    • Backup TBD distance (to get out of the way of other robots so they can kick balls into goal)
    • Tilt camera down
  • Option 3 - if camera can see balls(this is low priority)
    • Do option 1 or 2
    • 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


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 1 - dead reckoning
    • Set kicking force to amount needed for the middle zone
    • Drive straight for TBD distance until Ball sensor detects the ball
    • Kick ball (Score!!!)
    • Turn TBD degrees towards Ball 2
    • Drive straight for TBD distance until Ball sensor detects the ball
    • Turn -TBD degrees to align with goal
    • Kick ball (Score!!!)
    • Backup TBD distance (to get out of the way of other robots)
    • Title camera down
  • Option 2 - camera guided
    • Set kicking force to amount needed for the middle zone
    • Drive straight for TBD distance until Ball sensor detects the ball
    • User camera to make sure we are aligned with the goal
    • Kick ball (Score!!!)
    • Turn TBD degrees towards Ball 2
    • Drive straight for TBD distance until Ball sensor detects the ball
    • Turn using camera to find the target
    • Kick ball (Score!!!)
    • Backup TBD distance (to get out of the way of other robots)
    • Tilt camera down
  • Alternate endings (low priority)
    • Be in position to block tunnel (would need a sensor to make sure we don't go over the center line)
    • Look for additional balls (would need to be able to detect balls with the camera)


Far Zone

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


  • Balls in straight line to make it easier to kick?
  • Start in front of goal?
  • Block the opposing goal
  • Drive to the bump get ready to go over



  • Sensor to check center line and stop?
  • Ball lift?

More Organized Ideas
Far Zone
1. Move up to ball x inches
2. Use camera to angle aim x degrees to mid zone or near zone
3. Use kicker mechanism to kick ball using x amount of force
4. Turn to next ball x inches
5. Rotate x degrees to line up in front of ball
6. Use kicker mechanism to kick ball using x amount of force
7.Repeat this process with the third ball
8.Rotate x degrees to line up with opposing goal
9.Move up to opposing goal x inches
10.Rotate x degrees to block opposing goal
11. Rotate x degrees to line up with bump to middle zone
12. Move up to bump to middle zone x inches

Retrieved from "https://wiki.penfieldrobotics.com/wiki/index.php?title=2010:Autonomous&oldid=2532"