2010:Autonomous: Difference between revisions

From 1511Wookiee
Jump to navigationJump to search
No edit summary
No edit summary
Line 68: Line 68:
<br>  
<br>  


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


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


Far Zone<br>1. Move up to ball x inches <br>2. Use camera to angle aim x degrees to mid zone or near zone <br>3. Use kicker mechanism to kick ball using x amount of force<br>4. Turn to next ball x inches<br>5. Rotate x degrees to line up in front of ball <br>6. Use kicker mechanism to kick ball using x amount of force<br>7. Repeat this process with the third ball<br>8. Rotate x degrees to line up with bump to middle zone <br>9. Move up to bump to middle zone x inches <br>
Far Zone<br>1. Move up to ball x inches <br>2. Use camera to angle aim x degrees to mid zone or near zone <br>3. Use kicker mechanism to kick ball using x amount of force<br>4. Turn to next ball x inches<br>5. Rotate x degrees to line up in front of ball <br>6. Use kicker mechanism to kick ball using x amount of force<br>7.Repeat this process with the third ball&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 8.Rotate x degrees to line up with opposing goal&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 9.Move up to opposing goal x inches&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 10.Rotate x degrees to block opposing goal&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 11. Rotate x degrees to line up with bump to middle zone <br>12. Move up to bump to middle zone x inches <br>

Revision as of 13:55, 24 January 2010

  • 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 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

Retrieved from "https://wiki.penfieldrobotics.com/wiki/index.php?title=2010:Autonomous&oldid=2322"