2009:Autonomous Strategies

• Score on opponent
  • Choose what opponent to score on
  • Which station currently at
    • needs to drive an arc (still to come are drawings and math)
    • general idea would be to score on the trailer

• Getting the empty cell and refueling (only valid for R1 and R3 positions)
  • needs a “crazy Turn” to plow B2 out of the way
  • R1 to local is too tight of a turn (same for R3 to remote)
  • needs to determine position (has to be from R1 or R3)
    • R1 => B2 => B1
    • R3 => B2 => B3

• "Oh Crap Override"
  • detect if we stopped moving
  • become a creator of chaos (vague but… it’ll be awesome)
  • can be put in other modes just in case
    

• Offensive Defense - Stopping opponents from getting where they want to go
  • drive forward to block B3
  • drive directly across the field and block B2 & B1 (these for R1&R3)
  • choose left or right
  • head on collision with corner opponents

• Pure Defense
  • really random stuff
  • robot seizures (tipsy robot walk)
    • random speed for 2-3 ft distance
    • random choice for left and right fork
    • no more than 2 left or right turns in a row (to avoid getting stuck on walls)

Pseudo Code

pseudo code including trailer without a robot

Field Postions

As to attempt to avoid confusion, this is the diagram that the R1-R3/B1-B3 is referring to in the strategy section above.

the positions as seen by the programmers (R1 is the near position on the red alliance- R3 is the far one <same for blue alliance but with B1-B3>)

Needed sensors:

• Gyro
• Encoders
• Camera
• Accelerometer – practice this stuff first (EDD chassie?)

added strategy team comments from 1/10 meeting:

Possible problems  - Getting confused about opponent vs. our own team for scoring on trailer

Must move out fast to avoid dumping from player behind you

Possible pure defense - drive to our own refueling station (near) and hold the blue bot in place for our team to score on

     --From Calvin's notes--
Hard to actually deliver empty cells, collecting is probably good though

Manually call at a set time oh crap override on pure defense (in safe zone, see below)?

Possible safe zones for pure defense (Corners with YOUR human player in them)?

--All modes--
Turn in smooth arcs (hopefully) to help with trailer swinging

Must move IMMEDIATELY to be able to get awy from human player