2016:Strategy

Autonomous Requirements

Autonomous Requirements

Strategy Task List

Strategy Task List

Robot Priorities

Task	Priority
Drive Train Able to Manuver Outerworks	10
Able to Complete 4 sets of Outerworks	10
Able to Low Bar (as part of 4 outerwork)	9
Able to Scale	8
Able to move ball from SP to Courtyard (bulldoze through low bar meets this)	7
Ability to Complete ALL 5 Outerworks	7
Able to play Defense	7
Able to score Low Goal	6
Able to High Goal	4

Match Predictions

	Num High Auto (10pt)	Num Low Auto (5pt)	Num High (5pt)	Num Low (2pt)	Num OW Aut (10pt)	Reach OW Aut (2pt)	Num OW Tel (5pt)	Scaling (15pt)	Challenge (5)	Breach	Capt	Total Pts	RP W/ Win	RP W/ Loss
Max Quals	3	0	16	2	3	0	7	3	0	1	1	224	4	2
Finals FLR	1	1	10	4	2	0	8	2	1	1	1	168	4	2
Great Qual FLR	1	0	8	2	1	1	7	1	2	1	1	126	4	2
Average FLR	0	0	6	2	1	1	7	0	3	1	1	96	4	2
Breach Pot Pot	0	0	0	5	1	0	7	1	2	1	0	80	3	1
Shooter Pot Pot	0	0	6	2	1	0	3	1	2	0	1	84	3	1
Breach Pot DB	0	0	0	4	1	0	7	1	1	1	0	73	3	1
Shooter Pot DB	0	0	6	1	1	0	3	1	1	0	0	77	2	0
Pot Pot Pot	0	0	0	4	0	1	4	0	3	0	0	45	2	0

Robot Action Time Requirements

Time Requirements Spreadsheet

Autonomous mode requests

Auto Name	Description	Extra Details	Starting position
Auto 1	Go Under Low Bar		Anywhere - in line with a defense
Auto 2	Description		in line with low bar
Auto 3	Low Bar and reset for another one (ready to go under again in teleop)		in line with low bar
Auto 4	Rough Terrain, rock wall, ramparts, moat		in line with the respective defense
Auto 5	Auto With Delay/ stack behind bots	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	slightly off to one side of a defense
Auto 6	Low Score + Low Bar		in line with low bar
Auto 7	Portcullis and Score		in line with porticullis

Controls

Controller 1

Action/Button	Description	Details
Left Joystick Y	Moves the robot forward / back	"Up drive the robot forward (Breacher Side) Down drives the robot backward (Scaler Side)"
Right Joystick X	Turns the robot Left / Right	""Right will turn the robot clockwise and vice versa. With no input from the left Joytick, does point turn. With input from left, does curve turn""
Left Trigger	Turbo mode for left wheels	"Increases the range of power to the left motors by a set amount. Amount tbd"
Right Trigger	Turbo mode for Right wheels	"Increases the range of power to the Righ motors by a set amount. Amount tbd"
Left Bumper	Slow mode for left wheels	"Decreases the range of power to the left motors by a set amount. Amount tbd"
Right Bumper	Slow mode for Right wheels	"Decreases the range of power to the Right motors by a set amount. Amount tbd"

Controller 2

Action/Button	Description	Details
Left Joystick Up	Breacher down	Breacher Rotates forward / toward the ground
Left Joystick Down	Breacher up	Breacher Rotates backward / toward the sky
Right Joystick Up	Scaler extend	Scaler telescopes upward
Right Joystick Down	Scaler retract Scaler	telescopes downward
Right Bumper	intake	"Spins the intake wheels as to intake a ball into the robot"
Right Trigger	Shoot	"Spins the intake wheels as to outtake a ball out of the robot"
X button	Rotate Scaler up	Scaler rotates upward
B button	Rotate Scaler downward	Scaler rotates downward
"Left Trigger + Dpad down"	Arm Lock	Rotates servo to lock Scaler arm in place
"Left Bumper + Dpad Up"	Arm Unlock	"Rotate servo to unlock Scaler arm and allow telescoping action"

Broken Switches

Broken Switch1	Breacher Pivot	Potentiometer broken
Broken Switch2	Breacher Intake	Beam Break Broken
Broken Switch3	Arm rotate	"??????????? Encoder"
Broken Switch4	Arm telescope	"Encoder  ???????????"

Driver Station feedback

1. Camera Feed toggle
2. Breacher has ball
3. Breacher pivot position
4. scaler rotation
   1. able to extend [<15"]
   2. in optimal position
5. arm locked/unlocked