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 middle peg

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)

Strategy 5
Dead Reckoning (Striaght line)

1.) Drive Forward 244.9 inches

1.5.) Raise arm to middle 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 middle peg position

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 middle peg position

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)

1.) Have manip. twist tube to top peg height angle.

1.5.) Raise arm to top peg

2.)Drive Forward 30 inches (?)

3.) Eject tube onto peg

4.) Back up 30 inches

5.) Raise arm to max height

6.) Go to -> Final Action

Strategy 2
//Top Peg (offset Height)

//0.5.) 1.) Have manip. twist tube to low peg height angle.

//1.) Drive back 3 inches

//2.) Move arm down 8 inches

//3.) Drive forward 2 inches

//4.) Eject tube

//5.) Back up 24 inches

//6.) Move arm up to max height

//7.) Go to -> Final Action*//

Strategy 3
Middle peg (Normal Height)

 1.) Have manip. twist tube to middle peg height angle.

1.5.) Drive Forward 24 inches (?)

4.) Eject tube

5.) Move back 24 inches

6.) Move arm up to max height

7.) Go to -> Final Action

//Strategy 4
//Middle peg (Offset Height)

//1.) Have manip. twist tube to low peg height angle..

//2.) Drive back 15 inches

//3.) 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)

1.) Have manip. twist tube to low peg height angle.

1.5.) Lower arm to low height.

3.) Drive forward 24 inches

4.) Eject tube

5.) Back up 24 inches

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).

'*** Ignore the rest of this page *** '

This table is the same text as above, just organized into a table

Approach the pegs	Strategy 1 Straight line (left side)	-->	-->
Put Ubertube on pegs	Strategy 1 Top Peg (Normal Height)	Strategy 3 Middle peg (Normal Height)	Strategy 5 Low peg (Normal Height)
	1.) Drive Forward 244.9 inches on line 1.5.) Raise arm upward as driving to position for middle peg 2.) If all done.... 2.5) go to -> Place ubertube	-->	-->
	1.) Have manip. twist tube to top peg height angle. 1.5.) Raise arm to top peg 2.)Drive Forward 30 inches (?) 3.) Eject tube onto peg 4.) Back up 30 inches 5.) Raise arm to max height 6.) Go to -> Final Action	1.) Have manip. twist tube to middle peg height angle. 1.5.) Drive Forward 24 inches (?) 4.) Eject tube 5.) Move back 24 inches 6.) Move arm up to max height 7.) Go to -> Final Action	1.) Have manip. twist tube to low peg height angle. 1.5.) Lower arm to low height. 3.) Drive forward 24 inches 4.) Eject tube 5.) Back up 24 inches 5.) Move arm up to max height 6.) Go to -> Final Action

Same table as above, but with added comments in square brackets and bolded differences

Approach the pegs	Strategy 1 Straight line (left side)	-->	-->
Put Ubertube on pegs	Strategy 1 Top Peg (Normal Height)	Strategy 3 Middle peg (Normal Height)	Strategy 5 Low peg (Normal Height)
	1.) Drive Forward 244.9 inches on line [be far enough away from pegs to move arm without hitting pegs]  1.5.) Raise arm upward while driving to middle peg position [tube is not twisted yet]	-->	-->
	1.) Have manip. twist tube to top peg height angle. 1.5.) Raise arm to top peg 2.)Drive Forward 30 inches (?) 3.) Eject tube onto peg 4.) Back up 30 inches [same amount we drove forward] 5.) Raise arm to max height 6.) Go to -> Final Action	1.) Have manip. twist tube to middle peg height angle. [arm does not need to move] 1.5.) Drive Forward 24 inches (?) 4.) Eject tube 5.) Move back 24 inches [same amount we drove forward] 6.) Move arm up to max height 7.) Go to -> Final Action	1.) Have manip. twist tube to low peg height angle. 1.5.) Lower arm to low height. 3.) Drive forward 24 inches 4.) Eject tube 5.) Back up 24 inches [same amount we drove forward] 5.) Move arm up to max height 6.) Go to -> Final Action

Same table as above, but cleaned up to make each column more consistent

Approach the pegs:	Strategy 1 and 2 Straight line (left side)			Strategy
Put Ubertube on pegs:	Strategy 1 Top Peg (Normal Height)	Strategy 3 Middle peg (Normal Height)	Strategy 5 Low peg (Normal Height)
	Drive Forward 245? inches on line [be far enough away from pegs to move arm without hitting pegs] While driving: Move arm to middle peg position [do not twist tube]
	Have manip. twist tube to top peg angle Move arm to top peg Drive Forward 30? inches Eject tube Back up same amount we drove forward	Have manip. twist tube to middle peg angle arm doesn't move Drive Forward 24? inches Eject tube Back up same amount we drove forward	Have manip. twist tube to low peg angle Move arm to low peg Drive forward 28? inches Eject tube Back up same amount we drove forward
	Raise arm to max height Go to -> Final Action

Strategy 3
Center line (left/right fork)

1.)Go foward to fork (while raising arm to middle peg offset.)
(
3.)drive slightly more (to no longer see line, half the robot distance so we can turn correctly(19 inches))

4.)Turn left/right until line is visible.;

7.) Raise arm to preset position (top, middle, bottom)

7.5.) Have manip belts change tube angle to corrospond with arm position.

5.)drive forward (while following line) 60 inches

6.) Turn 30/-30 degrees

8.) Go forward (based on preset position)

9.) Eject tube

10.) Back up (Same distance as step 8)

11.) Raise arm to Max height (perpendicular)

11.) Go to -> Final Action