2010:Autonomous
NOTE: this is a work in progress
All Zones
- Variable Delay to start
- Option that does nothing
Near Zone - Kick ball in goal
- Placement on field:
- Ball goes on 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 goes on 9x9 grid position: Near the edge of the field and near the goal (corner of grid)
- Option 1 - dead reckoning
- 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)
- Option 2 - camera guiding
- 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)
- 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 goes on 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)
- Ball 2 goes on 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 goes on 9x9 grid position: Next to center line, Near the bump with the robot (corner of grid)
- Option 1 - dead reckoning
- 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)
- Be lined up directly with ball at start of match
- Balls to the side of Each Other
- Balls at diagonals?
- 1st ball and robot lined up directly for perfect shot
- Kick over 1 ball (try to score)
- Drive forward to ball
- Check if in possessions of ball
- Camera to line up with goal?
- Kick ball to try to get in goal
- Possibly aim to score on opposing team
- Kick over 1 ball (try to score)
- Be in position to block tunnel
- Back up and try to score second ball
- Look for additional balls (score?)
- Get as close to the center line as possible
- Line up with bump to near zone
Far Zone
- 3 balls lined up in a line on the farthest possible marks
- Balls in straight line to make it easier to kick?
- Start in front of goal?
- Balls start at angle
- Kick ball to near zone
- Be careful of bouncing off wall out of field or across center line
- Just lob or try to score?
- Score on opposing team?
- Block the opposing goal
- Drive to the bump get ready to go over
- Kicker strength?
- Kicker angleable?
- Sensor to check center line and stop?
- Ball lift?
More Organized Ideas
Middle Zone
1. Move up to ball x inches
2. Use camera to angle aim x degrees to near zone
3. Use kicker mechanism to kick ball using x amount of force
4. Back up x inches
5. Turn to line up directly in front of ball
6. Rotate x degrees using camera so kicker mechanism can face ball
7. Repeat first three steps with other ball
8. Rotate x degrees away from bump to center line
9. Move up to center line x inches
10. Rotate x degrees to line up with bump to near zone
Far Zone
1. Move up to ball x inches
2. Use camera to angle aim x degrees to mid zone or near zone
3. Use kicker mechanism to kick ball using x amount of force
4. Turn to next ball x inches
5. Rotate x degrees to line up in front of ball
6. Use kicker mechanism to kick ball using x amount of force
7.Repeat this process with the third ball 8.Rotate x degrees to line up with opposing goal 9.Move up to opposing goal x inches 10.Rotate x degrees to block opposing goal 11. Rotate x degrees to line up with bump to middle zone
12. Move up to bump to middle zone x inches
