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
  • Ability to traverse the field
• 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 loaded with 1 ball(see diagram)
• Timeline 0-2 Sec: Detect if Goal is Hot by processing the image from the camera and move craddle to kicking position
  • At this point the Program changes based on if the Goal is classified as "Hot" or "Not Hot"
• Timeline 2-3 move forward 2 feet
• Timeline 3-5 shoot ball if goal is hot
• Timeline 5.5-10 shoot ball if ball has not been shot yet

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

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