2010:Autonomous

NOTE: this is a work in progress

Near Zone - Kick ball in goal

• Placement on field:
  • Ball goes on 9x9 grid postion: TBD
  • Robot goes against bump and angled so there is a straight line from the middle of the robot to the ball to the goal (approx TBD feet from the side of the field)

• Option 1 
  • Drive straight for TBD distance until Ball sensor detects the ball
  • Drive straight for TBD distance (to get closer to goal)
  • Kick ball (Score!!!)
  • Backup TBD distance (to get out of the way of other robots so they can kick balls into goal)

• TBD
  • Camera to line up with 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