2011:Autonomous

Autonomous Actions

We split it up into three stages.
1. Approach the pegs.
2. Put Ubertube on pegs.
3. Ending action.

Approach pegs

Strategy 0:
1.) Do nothing
1.5) Stop all internal motors
1.5.5) Stop everything
2.) Wait for Teleoperated mode
3.) Go to -> Teleoperated mode

Strategy 1
Straight line (left side)

1.) Drive Forward 244.9 inches on line

1.5.) Raise arm upward as driving to position for top peg

2.) If all done....

2.5) go to -> Place ubertube

Strategy 2
Straight line (right side)

1.) Drive Forward 244.9 inches on line

1.5.) Raise arm upward as driving to position for top peg

1.5.5) Move manipulator belts to correctly position tube

2.) If all done....

2.5) go to -> Place ubertube

Strategy 3
Center line (left fork)

1.)Go foward to fork (while raising arm to 90deg. and turning tube via manip. so as it is parallel to ground);

2.)At fork, stop at fork

3.)drive slightly more (to no longer see line, half the robot distance so we can turn correctly)

4.)Turn until line is visible.;

5.)drive forward (while following line);

6.)stop and turn to line up with pegs;

7.)go to ->place ubertube;

(Possible to back up, and repeats five and six after step six to line up correctly)

Strategy 4
Center line (right fork)

1.)Go foward to fork (while raising arm to 90deg. and turning tube via manip. so as it is parallel to ground);

2.)At fork, stop at fork

3.)drive slightly more (to no longer see line, half the robot distance so we can turn correctly)

4.)Turn until line is visible.;

6.)stop and turn to line up with pegs;

7.)go to ->place ubertube;

(Possible to back up, and repeats five and six after step six to line up correctly)

(ALL DEAD RECKONING STRATEGYS ARE ASSUMING WE START INFRONT OF THE PEG!)

Strategy 5
Dead Reckoning (Striaght line)

1.) Drive Forward 244.9 inches

1.5.) Raise arm to top peg position

1.5.5)Turn manipulator belts to positon tube for placement

2.) Go to -> Ubertube Placement

Strategy 6
Dead Reckoning (Center Line Left fork)

1.) Drive Forward 157.3 inches

1.5.) Raise arm to top peg position

1.5.5) Turn manipulator belts to positon tube for placement

2.) Turn 35deg Counterclockwise

3.) Drive forward 67.5 inches

4.) Turn 35deg Clockwise

5.) Go to -> Place Ubertube

Strategy 7
Dead Reckoning (Center Line right fork)

1.) Drive Forward 157.3 inches

1.5.) Raise arm to top peg position

1.5.5) Turn manipulator belts to positon tube for placement

2.) Turn 35deg clockwise

3.) Drive forward 67.5 inches

4.) Turn 35deg CounterClockwise

5.) Go to -> Place Ubertube

Stage 2: Ubertube Placement

Strategy 0
Do nothing

1.) Stop all internal functions

2.) Wait for Teleoperated mode

3.)Go to -> Teleoperated mode

Strategy 1
Top Peg (Normal Height)

0.5.) Move Tube angle to appropriate height.

1.) Eject tube onto peg

2.) Raise arm to max height

3.) Go to -> Final Action

Strategy 2
Top Peg (offset Height)

0.5.) Move Tube angle to appropriate height.

1.) Drive back 3 inches

2.) Move arm down 8 inches

3.) Drive forward 2 inches

4.) Eject tube

5.) Move arm up to max height

6.) Go to -> Final Action

Strategy 3
Middle peg (Normal Height)

0.5.) Move Tube angle to appropriate height.

1.) Drive back 12 inches

2.) Lower arm 30 inches

3.) Drive forward 3 inches

4.) Eject tube

5.) Move arm up to max height

6.) Go to -> Final Action

Strategy 4
Middle peg (Offset Height)

0.5.) Move Tube angle to appropriate height.

1.) Drive back 15 inches

2.) Lower arm 38 inches

3.) Drive forward 3 inches

4.) Eject tube

5.) Move arm up to max height

6.) Go to -> Final Action

Strategy 5
Low peg (Normal Height)

0.5.) Move Tube angle to appropriate height.

1.) Drive back 24 inches

2.) Lower arm 60 inches

3.) Drive forward 3 inches

4.) Eject tube

5.) Move arm up to max height

6.) Go to -> Final Action

Strategy 6
Low peg (offset Height)

0.5.) Move Tube angle to appropriate height.

1.) Drive back 27 inches

2.) Lower arm 90 inches

3.) Drive forward 3 inches

4.) Eject tube

5.) Move arm to max height

6.) Go to -> Final Action

Stage 3: Final Action

Strategy 1
Do nothing

1.) Stop all motors

2.) Wait for teleoperated mode

3.) Go to -> Teleoperated

Strategy 2
Turn around and do nothing

1.) Turn 180deg

2.) Stop all motors

3.) Wait for teleoperated mode

4.) Go to -> Teleoperated

Strategy 3
Go to midfield while driving backwards

1.) Drive forward -245 inches

2.) Stop all motors

3.) Wait for teleoperated mode

4.) Go to -> Teleoperated mode

Strategy 4
Drive to midfield backwards, then turn!

1.) Drive forward -245 inches

2.) Turn 180 deg

3.) Stop all motors

4.) Wait for Teleoperated mode

5.) Go to -> Teleoperated mode

Strategey 5
Go to right lane to block incoming opposing alliance robots

1.) Drive backwards

2.) Turn 90deg Counterclockwise

3.) Drive until reached lane

4.) Stop all motors

5.) Wait for teleoperated mode

6.) Go to -> Teleoperated mode

Strategey 5
Go to leftlane to block incoming opposing alliance robots

1.) Drive backwards

2.) Turn 90deg Clockwise

3.) Drive until reached lane

4.) Stop all motors

5.) Wait for teleoperated mode

6.) Go to -> Teleoperated mode

To tell the robot which set of actions to perform you select an autonomous mode using the classmate or a paper handbook, which tells you three numbers that you plug in using a keypad on the driver’s station. The robot understands and runs based on the numbers. (Example 000 tells the robot to do nothing during autonomous).