2011:Autonomous

List of Autonomous Actions:

Scoring Strategy:

• Start facing pegs, any of the starting tape lines

• Delayed start (0-10 seconds)

• Follow straight line, turn left/right/none, place on high/mid/low, accounting for height for the center pegs

* Follow lines
* Follow outside lines
* Follow inside line (and left or right branch)

• Turn at pegs
  * Turn left
  * No turn
  * Turn right

• Place on pegs
  * Place low
  * Place mid
  * Place high

• Follow Line back to start
  * Follow
  * Stay

• Drive to center (close without penalty)
  * Stay
  * Drive to center
  * Drive to left
  * Drive to right

* Dead Reckoning (straight on to peg collumn) then score on any height
*ensure robot does not stray to far from straight (i.e. going into lane)
-

• Drive to center without scoring

• Do nothing

* Use Camera (drive/arm)

• Split line:
  follow line until break
  turn to set direction
  follow until break
  turn
  -Drive following the line, monitor for line break, robot stops, robot turns left/right based on what was chosen, (turn up to X degrees and/or use

sensors to find line), drive following line, monitor for line bend/break, robot stops, robot turns opposite direction from earlier, potentially drive forward/backward

to be a correct distance from pegs

• Straight Line:
  -Drive following the line, monitor for wide tape or loss of tape, robot stops, potentialy drive forward/backward to be a correct distance from pegs

Outside Pegs/Dead Reckoning:
-Drive straight X amount of inches while monitoring gyro to make sure we're driving straight, robot stops

Top Peg:
-Raise the arm using sensors to determine position, *side note - position tube in the beginning so it's in the correct position when arm is raised*

drive forward to put tube on peg if needed, release the piece on the peg

Different Pegs:
-Height of arm would change, tube positioning would change

* End positions:
stay at pegs
try to block lane/get ready for our lane (no turn/turn)
go to center line (make sure to put arm back into bot, feed position, able to grab off ground, )
180 and drive
dead reckonning (dont go too close)
reverse

-Monitor gyro at all times

Center Line:
-Turn 180 degrees, robot drives X inches *3/4 the way to the center*
-Robot drives backwards X inches *3/4 the way to the center*

Stay at Pegs:
-Do nothing
-Turn 180 degrees

Move to the Side:
-Turn 180 degrees, drive X inches or following the line and driving x inches, robot stops, turn left/right 90 degrees, drive forward x inches, robot

stops, turn 90 degrees in the opposite direction
-Go backwards x inches or follow the line and drive x inches, robot stops, turn left/right 90 degrees, drive forward x inches, robot stops, turn 90

degrees in the same direction as before.

• arm positioning:
  camera
  potentiometer
  encoders
  limit switches
  

• manipulator positioning:
  angle to meet peg

* How to stop:
end line
camera
dead reckonning
mouse

• need to know how to align
  

• Start position
  * How to get to pegs
  *

follow line using sensor

Nessecary Pre-Match Toggles:

* Line following (left-center_l-center_r-right)
* Turn To (left-center-right)
* Level to place on (low-mid-high)
* Go back (on/yes-off/no)
* Lane to drive to (left-center-right)