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

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 (see diagram)
Timeline 0-2 Sec: Detect if Goal is Hot by processing the image from the camera
- At this point the Program changes based on if the Goal is classified as "Hot" or "Not Hot"
"Hot" Timeline 2-3 Sec: Fire Ball into High Goal
"Hot" Timeline 3-4 Sec: Drive Forward Into Colored Zone completely, reset Kicker Position
"Hot" Timeline 4-6 Sec: Drive Backward into White Zone halfway past the Truss (see diagram)
"Hot" Timeline 6-10 Sec: Wait for Auto to end under Truss
"Not Hot" Timeline 2-3.5 Sec: Wait for Hot change
"Not Hot" Timeline 3.5-4.5 Sec: Fire Ball
- At the 4.5 Second Mark the Ball should be fired as to Score after the 5 Sec mark
- This will require tweaking based on how long it takes to fire and how long the ball flies through the air to make the ball score as soon as possible after the Hot change
"Not Hot" Timeline 4.5-5.5 Sec: Drive Forward Into Colored Zone completely, reset Kicker Position
"Not Hot" Timeline 5.5-7.5 Sec: Drive Backward into White Zone halfway past the Truss (see diagram)
"Not Hot" Timeline 7.5-10 Sec: Wait for Auto to end Under the Truss

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

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