2010:Autonomous
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Controls/Sensors needed
- Control knob to set start delay
- Robot digital i/o for beater brush
- Robot digital i/o for band sensor
- ??? to drive camera tilt servo
- ??? to read magnetic pot for kicker position
- Robot digital i/o for two limit swtiches on the kicker
All Zones
- Option that does nothing
Near Zone - Kick ball in goal
- Placement on field:
- Ball's 9x9 grid position: Near the edge of the field and near the goal (corner of grid)
- Robot goes against bump and angled so there is a straight line from the middle of the robot to the ball to the goal (approx TBD feet from the side of the field)
- Ball's 9x9 grid position: Near the edge of the field and near the goal (corner of grid)
- Option 1 - dead reckoning
- Delay based on control's setting
- Turn on beater brush
- Set kicking force to amount needed for the near zone
- Drive straight for TBD distance until Ball sensor detects the ball
- Drive straight for TBD distance (to get closer to goal)
- Kick ball (Score!!!)
- Backup TBD distance (to get out of the way of other robots so they can kick balls into goal)
- Tilt camera
- Delay based on control's setting
- Option 2 - camera guided
- Delay based on control's setting
- Turn on beater brush
- Set kicking force to amount needed for the near zone
- Drive straight for TBD distance until Ball sensor detects the ball
- Drive towards goal, up to TBD distance, guided by the camera (e.g. turn at an angle)
- Kick ball (Score!!!)
- Backup TBD distance (to get out of the way of other robots so they can kick balls into goal)
- Tilt camera down
- Delay based on control's setting
- Option 3 - if camera can see balls(this is low priority)
- Do option 1 or 2
- Search for more balls (ones kicked into near zone from other zones)
- Tip camera down
- Drive back-n-forth/side-to-side to see ball
- Drive to ball, until Ball sensor detects the ball
- Drive towards goal, guided by the camera
- Kick ball
- Repeat by looking for next ball
Middle Zone
- Placement on field:
- Ball 1's 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)
- Ball 2's 9x9 grid position: center
- Robot goes against bump and angled so there is a straight line from the middle of the robot to Ball 1 to the goal (approx TBD feet from the side of the field)
- Ball 1's 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)
- Option 1 - dead reckoning
- Delay based on control's setting
- Turn on beater brush
- Set kicking force to amount needed for the middle zone
- Drive straight for TBD distance until Ball sensor detects the ball
- Kick ball (Score!!!)
- Turn TBD degrees towards Ball 2
- Drive straight for TBD distance until Ball sensor detects the ball
- Turn -TBD degrees to align with goal
- Kick ball (Score!!!)
- Backup TBD distance (to get out of the way of other robots)
- Title camera down
- Delay based on control's setting
- Option 2 - camera guided
- Delay based on control's setting
- Turn on beater brush
- Set kicking force to amount needed for the middle zone
- Drive straight for TBD distance until Ball sensor detects the ball
- Use camera to make sure we are aligned with the goal
- Kick ball (Score!!!)
- Turn TBD degrees towards Ball 2
- Drive straight for TBD distance until Ball sensor detects the ball
- Turn using camera to find the target
- Kick ball (Score!!!)
- Backup TBD distance (to get out of the way of other robots)
- Tilt camera down
- Delay based on control's setting
- Alternate endings (low priority)
- Be in position to block tunnel (would need a sensor to make sure we don't go over the center line)
- Look for additional balls (would need to be able to detect balls with the camera)
- Be in position to block tunnel (would need a sensor to make sure we don't go over the center line)
Far Zone
- Placement on field:
- Ball 1's 9x9 grid position: near the edge of the field, near robot
- Ball 2's 9x9 grid position: near the edge of the field, middle
- Ball 3's 9x9 grid position: near the edge of the field, near bump
- Robot goes against bump, not angled, so there is a straight line from the middle of the robot to all three balls(next to ramp in front of goal)
- Ball 1's 9x9 grid position: near the edge of the field, near robot
- Option 1 - dead reckoning
- Delay based on control's setting
- Turn on beater brush
- Set kicking force to amount needed for the far zone
- Drive straight for TBD distance until Ball sensor detects ball 1
- Kick ball
- Drive straight for TBD distance until Ball sensor detects ball 2
- Kick ball
- Drive straight for TBD distance until Ball sensor detects ball 3
- Kick ball
- Title camera down
- Delay based on control's setting
- Option 2 - camera guided (if we can kick the entire length of the field)
- Delay based on control's setting
- Turn on beater brush
- Set kicking force to amount needed for the far zone
- Drive straight for TBD distance until Ball sensor detects the ball 1
- Turn/rotate using camera to find target
- Kick ball
- 'Reverse' Turn/rotate the same amount it took to find the target (to be aligned with Ball 2)
- Drive straight for TBD distance until Ball sensor detects the ball 2
- Turn/rotate using camera to find target
- Kick ball
- 'Reverse' Turn/rotate the same amount it took to find the target (to be aligned with Ball 3)
- Drive straight for TBD distance until Ball sensor detects the ball 3
- Turn/rotate using camera to find target
- Kick ball
- Tilt camera down
- Delay based on control's setting
- Alternate endings (low priority)
- Block the opposing goal (this can be done by doing nothing)
- Drive to the bump get ready to go over (this can be done by driving straight for TBD distance)
- Block the opposing goal (this can be done by doing nothing)
