2010:Autonomous: Difference between revisions

From 1511Wookiee
Jump to navigationJump to search
No edit summary
No edit summary
Line 1: Line 1:
<u>'''Controls/Sensors needed'''</u>
<u>'''All Zones'''</u>  
 
*Control knob to set start delay<br>
*Control to select which autonomous option<br>
*<br>
*Relay for beater brush<br>
*3 position toggle swtich for beater brush<br>
*<br>
*Robot digital i/o for banner sensor
*Switch to ignore banner sensor (fire anyway)<br>
*<br>
*Use joystick switch to tilt camera<br>
*Servo to tilt camera<br>
*<br>
*Control for power of the kick<br>
*Button to fire<br>
*Light fire button when ok to fire (at the right power level and kicker back right amount of time)<br>
*Where to display the current power level???<br>
*Relay for electro-magnet for kicker<br>
*Two digit I/O for the kicker limit switches<br>
*Robot analog for mag pot for the kicker<br>
*Toggle to ignore mag pot (i.e. override kicker)<br>
*Two buttons (or two sides of the slider)&nbsp;to move kicker in and out when ignoring mag pot<br>
*Button to energize electro magnet when ignoring mag pot<br>
*<br>
*Two buttons to raise and lower lift (press and hold)<br>
*Two buttons to swing lift arm<br>
*How do we know it is fully extended<br>
*Pot to make sure wench is turning<br>
 
<br> <u>'''All Zones'''</u>  


*Option that does nothing
*Option that does nothing


<br>  
<br>


<u>'''Near Zone - Kick ball in goal'''</u>  
<u>'''Near Zone - Kick ball in goal'''</u>  


*Placement on field:  
*Placement on field:  
**Ball's 9x9 grid position: Near the edge of the field and near the goal (corner of grid)<br>  
**Ball's 9x9 grid position: Near the edge of the field and near the goal (corner of grid)<br>
**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'''&nbsp;feet from the side of the field)
**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'''&nbsp;feet from the side of the field)


*<u>Option 1</u> - dead reckoning  
*<u>Option 1</u> - dead reckoning  
**Delay based on control's setting<br>  
**Delay based on control's setting<br>
**Turn on beater brush  
**Turn on beater brush  
**Set kicking force to amount needed for the near zone  
**Set kicking force to amount needed for the near zone  
Line 52: Line 22:


*<u>Option 2</u> - camera guided  
*<u>Option 2</u> - camera guided  
**Delay based on control's setting<br>  
**Delay based on control's setting<br>
**Turn on beater brush  
**Turn on beater brush  
**Set kicking force to amount needed for the near zone  
**Set kicking force to amount needed for the near zone  
**Drive straight for '''TBD''' distance until Ball sensor detects the ball  
**Drive straight for '''TBD''' distance until Ball sensor detects the ball  
**Drive towards goal, up to '''TBD'''&nbsp;distance, guided by the camera (e.g. turn at an angle)<br>  
**Drive towards goal, up to '''TBD'''&nbsp;distance, guided by the camera (e.g. turn at an angle)<br>
**Kick ball (Score!!!)  
**Kick ball (Score!!!)  
**Backup '''TBD'''&nbsp;distance (to get out of the way of other robots so they can kick balls into goal)<br>  
**Backup '''TBD'''&nbsp;distance (to get out of the way of other robots so they can kick balls into goal)<br>
**Tilt camera down<br>
**Tilt camera down<br>


*<u>Option 3</u> - if camera can see balls(this is low priority)<br>  
*<u>Option 3</u> - if camera can see balls(this is low priority)<br>
**Do option 1 or 2  
**Do option 1 or 2  
**Search for more balls (ones kicked into near zone from other zones)  
**Search for more balls (ones kicked into near zone from other zones)  
Line 71: Line 41:
***Repeat by looking for next ball
***Repeat by looking for next ball


<br>  
<br>


<u>'''Middle Zone'''</u>  
<u>'''Middle Zone'''</u>  


*Placement on field:  
*Placement on field:  
**Ball 1's 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)<br>  
**Ball 1's 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)<br>
**Ball 2's 9x9 grid position: center  
**Ball 2's 9x9 grid position: center  
**Robot goes against bump and angled so there is a straight line from the middle of the robot to Ball 1 to the goal (approx '''TBD'''&nbsp;feet from the side of the field)
**Robot goes against bump and angled so there is a straight line from the middle of the robot to Ball 1 to the goal (approx '''TBD'''&nbsp;feet from the side of the field)


*<u>Option 1</u> - dead reckoning  
*<u>Option 1</u> - dead reckoning  
**Delay based on control's setting<br>  
**Delay based on control's setting<br>
**Turn on beater brush  
**Turn on beater brush  
**Set kicking force to amount needed for the middle zone  
**Set kicking force to amount needed for the middle zone  
Line 94: Line 64:


*<u>Option 2</u> - camera guided  
*<u>Option 2</u> - camera guided  
**Delay based on control's setting<br>  
**Delay based on control's setting<br>
**Turn on beater brush  
**Turn on beater brush  
**Set kicking force to amount needed for the middle zone  
**Set kicking force to amount needed for the middle zone  
Line 108: Line 78:


*<u>Alternate endings</u> (low priority)  
*<u>Alternate endings</u> (low priority)  
**Be in position to block tunnel (would need a sensor to make sure we don't go over the center line)<br>  
**Be in position to block tunnel (would need a sensor to make sure we don't go over the center line)<br>
**Look for additional balls (would need to be able to detect balls with the camera)
**Look for additional balls (would need to be able to detect balls with the camera)


'''<u></u>'''<br>  
'''<u></u>'''<br>


'''<u>Far Zone</u>'''  
'''<u>Far Zone</u>'''  


*Placement on field:  
*Placement on field:  
**Ball 1's 9x9 grid position: near the edge of the field, near robot<br>  
**Ball 1's 9x9 grid position: near the edge of the field, near robot<br>
**Ball 2's 9x9 grid position: near the edge of the field, middle<br>  
**Ball 2's 9x9 grid position: near the edge of the field, middle<br>
**Ball 3's 9x9 grid position: near the edge of the field, near bump  
**Ball 3's 9x9 grid position: near the edge of the field, near bump  
**Robot goes against bump, not angled, so there is a straight line from the middle of the robot to all three balls(next to ramp in front of goal)<br>
**Robot goes against bump, not angled, so there is a straight line from the middle of the robot to all three balls(next to ramp in front of goal)<br>


<br>  
<br>


*<u>Option 1</u> - dead reckoning  
*<u>Option 1</u> - dead reckoning  
**Delay based on control's setting<br>  
**Delay based on control's setting<br>
**Turn on beater brush  
**Turn on beater brush  
**Set kicking force to amount needed for the far zone  
**Set kicking force to amount needed for the far zone  
**Drive straight for '''TBD''' distance until Ball sensor detects ball 1<br>  
**Drive straight for '''TBD''' distance until Ball sensor detects ball 1<br>
**Kick ball  
**Kick ball  
**Drive straight for '''TBD''' distance until Ball sensor detects ball 2  
**Drive straight for '''TBD''' distance until Ball sensor detects ball 2  
**Kick ball  
**Kick ball  
**Drive straight for '''TBD'''&nbsp;distance until Ball sensor detects ball 3  
**Drive straight for '''TBD'''&nbsp;distance until Ball sensor detects ball 3  
**Kick ball<br>  
**Kick ball<br>
**Title camera down<br>
**Title camera down<br>


*<u>Option 2</u> - camera guided (if we can kick the entire length of the field)<br>  
*<u>Option 2</u> - camera guided (if we can kick the entire length of the field)<br>
**Delay based on control's setting<br>  
**Delay based on control's setting<br>
**Turn on beater brush  
**Turn on beater brush  
**Set kicking force to amount needed for the far zone  
**Set kicking force to amount needed for the far zone  
Line 153: Line 123:


*<u>Alternate endings</u> (low priority)  
*<u>Alternate endings</u> (low priority)  
**Block the opposing goal (this can be done by doing nothing)<br>  
**Block the opposing goal (this can be done by doing nothing)<br>
**Drive to the bump get ready to go over (this can be done by driving straight for TBD&nbsp;distance)<br>
**Drive to the bump get ready to go over (this can be done by driving straight for TBD&nbsp;distance)<br>


<br>
<br>

Revision as of 17:27, 30 January 2010

All Zones

  • Option that does nothing


Near Zone - Kick ball in goal

  • Placement on field:
    • Ball's 9x9 grid position: Near the edge of the field and near the goal (corner of grid)
    • 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 - dead reckoning
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the near zone
    • 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)
    • Tilt camera
  • Option 2 - camera guided
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the near zone
    • Drive straight for TBD distance until Ball sensor detects the ball
    • Drive towards goal, up to TBD distance, guided by the camera (e.g. turn at an angle)
    • Kick ball (Score!!!)
    • Backup TBD distance (to get out of the way of other robots so they can kick balls into goal)
    • Tilt camera down
  • Option 3 - if camera can see balls(this is low priority)
    • Do option 1 or 2
    • Search for more balls (ones kicked into near zone from other zones)
      • Tip camera down
      • Drive back-n-forth/side-to-side to see ball
      • Drive to ball, until Ball sensor detects the ball
      • Drive towards goal, guided by the camera
      • Kick ball
      • Repeat by looking for next ball


Middle Zone

  • Placement on field:
    • Ball 1's 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)
    • Ball 2's 9x9 grid position: center
    • Robot goes against bump and angled so there is a straight line from the middle of the robot to Ball 1 to the goal (approx TBD feet from the side of the field)
  • Option 1 - dead reckoning
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the middle zone
    • Drive straight for TBD distance until Ball sensor detects the ball
    • Kick ball (Score!!!)
    • Turn TBD degrees towards Ball 2
    • Drive straight for TBD distance until Ball sensor detects the ball
    • Turn -TBD degrees to align with goal
    • Kick ball (Score!!!)
    • Backup TBD distance (to get out of the way of other robots)
    • Title camera down
  • Option 2 - camera guided
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the middle zone
    • Drive straight for TBD distance until Ball sensor detects the ball
    • Use camera to make sure we are aligned with the goal
    • Kick ball (Score!!!)
    • Turn TBD degrees towards Ball 2
    • Drive straight for TBD distance until Ball sensor detects the ball
    • Turn using camera to find the target
    • Kick ball (Score!!!)
    • Backup TBD distance (to get out of the way of other robots)
    • Tilt camera down
  • Alternate endings (low priority)
    • Be in position to block tunnel (would need a sensor to make sure we don't go over the center line)
    • Look for additional balls (would need to be able to detect balls with the camera)


Far Zone

  • Placement on field:
    • Ball 1's 9x9 grid position: near the edge of the field, near robot
    • Ball 2's 9x9 grid position: near the edge of the field, middle
    • Ball 3's 9x9 grid position: near the edge of the field, near bump
    • Robot goes against bump, not angled, so there is a straight line from the middle of the robot to all three balls(next to ramp in front of goal)


  • Option 1 - dead reckoning
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the far zone
    • Drive straight for TBD distance until Ball sensor detects ball 1
    • Kick ball
    • Drive straight for TBD distance until Ball sensor detects ball 2
    • Kick ball
    • Drive straight for TBD distance until Ball sensor detects ball 3
    • Kick ball
    • Title camera down
  • Option 2 - camera guided (if we can kick the entire length of the field)
    • Delay based on control's setting
    • Turn on beater brush
    • Set kicking force to amount needed for the far zone
    • Drive straight for TBD distance until Ball sensor detects the ball 1
    • Turn/rotate using camera to find target
    • Kick ball
    • 'Reverse' Turn/rotate the same amount it took to find the target (to be aligned with Ball 2)
    • Drive straight for TBD distance until Ball sensor detects the ball 2
    • Turn/rotate using camera to find target
    • Kick ball
    • 'Reverse' Turn/rotate the same amount it took to find the target (to be aligned with Ball 3)
    • Drive straight for TBD distance until Ball sensor detects the ball 3
    • Turn/rotate using camera to find target
    • Kick ball
    • Tilt camera down
  • Alternate endings (low priority)
    • Block the opposing goal (this can be done by doing nothing)
    • Drive to the bump get ready to go over (this can be done by driving straight for TBD distance)


Retrieved from "https://wiki.penfieldrobotics.com/wiki/index.php?title=2010:Autonomous&oldid=2604"