2011:Autonomous

Autonomous Actions

We split it up into three stages.
1. Approach the pegs.
2. Put Ubertube on pegs.
3. Ending action.

Approach pegs

Strategy 0:
1.) Do nothing
1.5) Stop all internal motors
1.5.5) Stop everything
2.) Wait 15 seconds
3.) Go to -> Teleoperated mode

Strategy 1
Straight line (left side)

1.) Drive Forward 244.9 inches

1.5.) Raise arm upward as driving to position for top peg

1.5.5) Move manipulator belts to correctly position tube

2.) If all done....

2.5) Go to -> Place ubertube

Strategy 2
Straight line (right side)

1.) Drive Forward 244.9 inches

1.5.) Raise arm upward as driving to position for top peg

1.5.5) Move manipulator belts to correctly position tube

2.) If all done....

2.5) Go to -> Place ubertube

Strategy 3
Center line (left fork)

1.)Go foward to fork (while raising arm to 90deg. and turning tube via manip. so as it is parallel to ground);

2.)At fork, stop at fork

3.)drive slightly more (to no longer see line, half the robot distance so we can turn correctly)

4.)Turn until line is visible.;

5.)Drive forward (while following line);

6.)Stop 1-2 feet early and turn one side (curve) to line up with pegs;

7.)Go to ->place ubertube;

Strategy 4
Center line (right fork)

1.)Go foward to fork (while raising arm to 90deg. and turning tube via manip. so as it is parallel to ground);

2.)At fork, stop at fork

3.)Drive slightly more (to no longer see line, half the robot distance so we can turn correctly)

4.)Turn until line is visible.;

5.)Drive forward (while following line);

6.)Stop 1-2 feet early and turn one side (curve) to line up with pegs;

7.)Go to ->place ubertube;

Put Ubertube on pegs

Simple enough. Put the Ubertube on

1. The top peg
2. The middle peg
3. The bottom peg

Ending Action

We have a few actions we can do after the Ubertube is put on the peg (assuming there is time at the end of the autonomous period)

1. Do nothing
2. Turn around and wait.
3. Drive (backwards) to midfield
4. Turn around and drive to midfield
5. Block opponents feeding station

To tell the robot which set of actions to perform you select an autonomous mode using the classmate or a paper handbook, which tells you three numbers that you plug in using a keypad on the driver’s station. The robot understands and runs based on the numbers. (Example 000 tells the robot to do nothing during autonomous).