2010:Autonomous
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All Zones
- Option 0: 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 - Near Zone: score 1 ball with 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 TBD1 distance or until Ball sensor detects the ball
- Drive straight for TBD2 distance (if we need to get closer to goal)
- Kick ball (Score!!!)
- Backup TBD3 distance (to get out of the way of other robots so they can kick balls into goal)
- Tilt camera down for tele-op
- 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 TBD1 distance or until Ball sensor detects the ball
- Drive straight for TBD2 distance (if we need to get closer to goal)
- Turn using camera to find target
- Kick ball (Score!!!)
- Backup TBD3 distance (to get out of the way of other robots so they can kick balls into goal)
- Tilt camera down for tele-op
- Option 3 - placeholder if camera can see balls
- Same as option 2 for now
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 4 - 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 TBD4 distance or until Ball sensor detects the ball
- Kick ball (Score!!!)
- Turn TBDa1 degrees towards Ball 2
- Drive straight for TBD5 distance or until Ball sensor detects the ball
- Turn -TBDa1 degrees to align with goal
- Kick ball (Score!!!)
- Backup TBD6 distance (to get out of the way of other robots)
- Title camera down for tele-op
- Option 5 - 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 TBD4 distance or until Ball sensor detects the ball
- Turn using camera to find the target
- Kick ball (Score!!!)
- Turn TBDa1 degrees towards Ball 2
- Drive straight for TBD5 distance or until Ball sensor detects the ball
- Turn -TBDa1 degrees to align with goal
- Turn using camera to find the target
- Kick ball (Score!!!)
- Backup TBD6 distance (to get out of the way of other robots)
- Tilt camera down for tele-op
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 ramp in front of goal, not angled, so there is a straight line from the middle of the robot to all three balls
- Option 6 - 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 TBD7 distance or until Ball sensor detects ball 1
- Kick ball
- Drive straight for TBD8 distance or until Ball sensor detects ball 2
- Kick ball
- Drive straight for TBD9 distance or until Ball sensor detects ball 3
- Kick ball
- Title camera down for tele-op
The following are not being implemented (want to keep the info for now)
- Option 3 - Near Zone: if camera can see balls (if we can see balls on the field with the camera)
- Do option 2 if camera can find the target; otherwise do option 1
- 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
- Option 7 - Far Zone: camera guided (if we can see target from far zone AND 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 for tele-op
- Alternate endings (low priority)
- Middle zone: Be in position to block tunnel (would need a sensor to make sure we don't go over the center line)
- Middle zone: Look for additional balls (would need to be able to detect balls with the camera)
- Far zone: Block the opposing goal (this can be done by placing robot in front of goal and doing nothing)
- Far zone: Drive to the bump get ready to go over (no longer see the need, but if, this can be done by driving straight for TBD distance)
