2010:Autonomous

• Near Zone
  • Kick in ball
    • Line up – robot -> ball -> goal at start
      • Angle to bump robot in direct line between ball and goal
    • Drive forward enough to be in ‘possession’ of ball
    • Use sensor to check if ball is in possession
    • Camera to line up with goal
    • Use kicking mechanism to kick in ball
    • Back away from goal
    • Move as close to the center line as possible
      • Turn around to be ready to go over bump
        • Block own goal?
          • Camera to find ball??
  • Variable Delay for every action

• Middle Zone
  • Be lined up directly with ball at start of match
    • Balls to the side of Each Other
    • Balls at diagonals?
    • 1st ball and robot lined up directly for perfect shot

• • Kick over 1 ball (try to score)
    • Drive forward to ball
    • Check if in possessions of ball
      • Camera to line up with goal?
      • Kick ball to try to get in goal
        • • Possibly aim to score on opposing team

• • Be in position to block tunnel
  • Back up and try to score second ball
  • Look for additional balls (score?)
  • Get as close to the center line as possible
  • Line up with bump to near zone

• Far Zone
  • 3 balls lined up in a line on the farthest possible marks
  • Balls in straight line to make it easier to kick?
  • 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
  • Drive to the bump get ready to go over

• Kicker strength?
• Kicker angleable?
• Sensor to check center line and stop?
• Ball lift?

More Organized Ideas

Near Zone
1. Move up to ball x inches
2. Angle ball to goal x degrees using camera
3. Use kicker mechanism to kick ball in goal using x amount of force
4. Rotate x degrees away from goal to center line
5. Move back to center line x inches

Middle Zone
1. Move up to ball x inches
2. Use camera to angle aim x degrees to near zone
3. Use kicker mechanism to kick ball using x amount of force
4. Back up x inches
5. Turn to line up directly in front of ball
6. Rotate x degrees using camera so kicker mechanism can face ball
7. Repeat first three steps with other ball
8. Rotate x degrees away from bump to center line
9. Move up to center line x inches
10. Rotate x degrees to line up with bump to near zone

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 bump to middle zone
9. Move up to bump to middle zone x inches