2010:Autonomous

NOTE: this is a work in progress

All Zones

• Variable Delay to start
• Turn off on beater brush
• 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)

• 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)
  • Tilt camera
    

• Option 2 - camera guided
  • 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
    

• 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)

• Option 1 - dead reckoning
  • 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
    

• Option 2 - camera guided
  • Set kicking force to amount needed for the middle zone
  • Drive straight for TBD distance until Ball sensor detects the ball
  • User 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
    

• 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)

Far Zone

• Placement on field:
  • Ball 1's 9x9 grid position: near center line, near robot
    
  • Ball 2's 9x9 grid position: near center line, middle
    
  • Ball 3's 9x9 grid position: near center line, near bump
  • Robot goes against bump, not angled, so there is a straight line from the middle of the robot to all three balls

• Balls in straight line to make it easier to kick?
• Start in front of goal?
• Block the opposing goal
• Drive to the bump get ready to go over

• Sensor to check center line and stop?
• Ball lift?

More Organized Ideas
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