2014:Autonomous

Overview

• NOTE: Estimated/ Preliminary Times Used
• Outline of 2 High Autonomous Programs: 1 Ball Detect (High Goal) and 2 Ball High Goal
• Outline of 4 Low Priority Autonomous Programs: Simple Mobility, Complex mobility Right, Complex mobility Left, Dead

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)
  • Intake Ball after Preloaded ball is shot (3 Sec)
    • Includes all of the following: Reset kicker position, lower intake/cradle arms, suck ball into robot, settle time for the ball (if applicable or necessary), raise ball/cradle into firing position

1 Ball Detect Auto (High Goal)

• The auto mode would be one program with two outputs based on whether or not the program determines 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)

• Starting Position: Perpendicular to the goal and as close to the colored zone as possible (see diagram)
• Timeline 0-1 Sec: Fire ball into High Goal
• Timeline 1-4 Sec: Lower Cradle/Intake, Reset Kicker Position, Suck ball into robot, articulate into shooting position
  • Optimally this process will be done without moving the Drive Train but tweaking will have to be done
  • 3 Sec is the very fast estimate, if it takes 4-5 sec for intake to shoot then I will recalculate from there
  • taking more than 5 sec get to shooting position would likely be too slow for mobility
• Timeline 4-5 Sec: Shoot ball
  • Shooting the ball will be done as soon as possible (i.e. see above bullets)
• Timeline 5-6 Sec: Drive Forward Into Colored Zone completely, reset  Kicker Position
• Timeline 6-8 Sec: Drive Backward into White Zone halfway past the Truss (see diagram)
• Timeline 8-10 Sec: Wait for Auto to end under the Truss

Mobility Simple (Low Priority)

• Starting Position: Anywhere in White Zone (no ball)
• Timeline 0-3 Sec: Drive Forward
• Timeline 3-10 Sec: Wait for Auto to end in colored zone

Mobility Complex (Right) (Low Priority)

• Timeline 0-2 Sec: Drive Forward
• Timeline 2-3 Sec Rotate ~45° counter clock wise
  • Will need to be tweaked

Mobility Complex (Left) (Low Priority)

• Timeline 0-2 Sec: Drive Forward
• Timeline 2-3 Sec Rotate ~45° counter clock wise
  • Will need to be tweaked

Dead Mode (Low Priority)

• Starting position: Goalie Zone
• Timeline 0-10 Sec: Do Nothing
  • (Can be modified if a blocker is made)
  • (Blocker would be up if applicable)
• Purpose: 2 Ball Auto for alliance partner, get closer to alliance station for first assist/cycle