2010:Autonomous: Difference between revisions
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Programming (talk | contribs) No edit summary |
Programming (talk | contribs) No edit summary |
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| Line 4: | Line 4: | ||
*Variable Delay to start | *Variable Delay to start | ||
*Turn off on beater brush | *Turn off on beater brush | ||
*Option that does nothing | *Option that does nothing | ||
| Line 83: | Line 83: | ||
*Placement on field: | *Placement on field: | ||
**Ball 1's 9x9 grid position: near center line, near robot<br> | **Ball 1's 9x9 grid position: near center line, near robot<br> | ||
**Ball 2's 9x9 grid position: near center line, middle<br> | **Ball 2's 9x9 grid position: near center line, middle<br> | ||
**Ball 3's 9x9 grid position: near center line, near bump | **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 | **Robot goes against bump, not angled, so there is a straight line from the middle of the robot to all three balls | ||
<br> | <br> | ||
*<u>Option 1</u> - 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<br> | |||
*<u>Option 2</u> - 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<br> | |||
*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? | ||
*Block the opposing goal | |||
*Drive to the bump get ready to go over | *<u>Alternate endings</u> (low priority) | ||
**Block the opposing goal | |||
**Drive to the bump get ready to go over | |||
<br> | <br> | ||
Revision as of 10:31, 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)
- Ball's 9x9 grid position: Near the edge of the field and near the goal (corner of grid)
- 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)
- Ball 1's 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)
- 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)
- Be in position to block tunnel (would need a sensor to make sure we don't go over the center line)
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
- Ball 1's 9x9 grid position: near center line, near robot
- 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
- Balls in straight line to make it easier to kick?
- Start in front of goal?
- Alternate endings (low priority)
- 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
