2014:Autonomous

Overview

• NOTE: Estimated/ Preliminary Times Used
• Outline of Two Autonomous Programs: 1 Ball Detect (High Goal) and 2 Ball High Goal

Needed Mechanisms and Capabilities (Assumed Values)

• Assumed  Capabilities
  • Ability to Shoot from White Zone
  • Ability to Sense Hot Goal via image processing and camera
• Assumed Values
  • Fire Preloaded Ball (1 sec)
  • Drive forward Completely into Colored Zone for mobility bonus and reset Kicker (1 Sec)
  • Detect Hot Goal and Interpret Results (2 Sec)
  • Drive From Colored Zone to halfway under Truss (2 Sec)

1 Ball Detect Auto (High Goal)

• The auto mode would be one program with two outputs based on wether or not the program detirmines the goal is "Hot"
• Starting Position: Perpendicular to the goal and as close to the colored zone as possible (see diagram)
• Timeline 0-2 Sec: Detect if Goal is Hot by processing the image from the camera
  • At this point the Program changes based on if the Goal is classified as "Hot" or "Not Hot"
• "Hot" Timeline 2-3 Sec: Fire Ball into High Goal
• "Hot" Timeline 3-4 Sec: Drive Forward Into Colored Zone completely, reset  Kicker Position 
• "Hot" Timeline 4-6 Sec: Drive Backward into White Zone halfway past the Truss (see diagram)
• "Hot" Timeline 6-10 Sec: Wait for Auto to end under Truss
• "Not Hot" Timeline 2-3.5 Sec: Wait for Hot change
• "Not Hot" Timeline 3.5-4.5 Sec: Fire Ball
  • At the 4.5 Second Mark the Ball should be fired as to Score after the 5 Sec mark
  • This will require tweaking based on how long it takes to fire and how long the ball flies through the air to make the ball score as soon as possible after the Hot change
• "Not Hot" Timeline 4.5-5.5 Sec: Drive Forward Into Colored Zone completely, reset  Kicker Position
• "Not Hot" Timeline 5.5-7.5 Sec: Drive Backward into White Zone halfway past the Truss (see diagram)
• "Not Hot" Timeline 7.5-10 Sec: Wait for Auto to end Under the Truss

2 Ball Auto (High Goal)