This discussion is meant to identify the various autonomous modes we'll support. The UI discussion will reflect how to set up the mode for the robot to perform.
There are 2 basic tasks during autonomous:
- score point
- prepare for teleop
There are 3 basic ways to score in Steamworks:
- deliver Fuel (balls)
- deliver a Gear to one of 3 Lifts
- cross the baseline
Things we can do to prepare for tele-op include
- getting more balls from the side wall hopper for ourselves
- releasing balls from other hoppers in a prevent defense
We have 2 alliance partners who will be thinking about doing the same thing. Our challenges are:
- how to get as many points as we can in autonomous
- without getting in the way of our alliance partners
Some issues to consider:
- we should probably not have more than 1 attempt at dumping into the low goal during the 15 second period. One reason is that any balls that fall to the ground in the key might well prevent the next robot from reaching the wall and will end up dumping their balls on the ground.
Other considerations include:
- the low goal is only available to one robot at a time
- there's only 15 seconds to do it all
- robot must be in contact with the alliance wall
- We can start with up to 10 balls/fuel and 1 gear
So with all that in mind, let's fill in plausible autonomous modes. The scenarios assume the key is to the left. Lift#1 is to the left, Lift#2 is nearest the alliance station and Lift#3 is to the right.
- Do nothing - only do this if there are severe issues!
- Cross the baseline - get the 5 points. Do this where it's safe from collisions.
- Dump balls, cross baseline - start from position nearest the key.
- Dump balls, cross baseline, deposit Gear to Lift#1 - same as above plus Gear.
- Dump balls, cross baseline, deposit Gear to Lift#2 - not as smooth a path as above.
- Deposit Gear to Lift#2, cross baseline to left - same as above but do not dump balls.
- Deposit Gear to Lift#2, cross baseline to right - same as above but move to the right.
- Deposit Gear to Lift#2, cross baseline to the left, then dump balls.
- Deposit Gear to Lift#2, dump balls, then cross baseline.
- Deposit Gear to Lift#1 crossing baseline in the process.
- Deposit Gear to Lift#1 crossing baseline in the process, double back to dump balls.
- Deposit Gear to Lift#1 crossing baseline in the process. Go to wall dispenser and get balls.
- Deposit Gear to Lift#1 crossing baseline in the process. Go to wall dispanser and get balls. Continue down the field to next station (or two) and release balls as well.
- Deposit Gear to Lift#3 crossing baseline in the process.
- Deposit Gear to Lift#3 crossing baseline in the process, double back around the back of the airship to dump balls. This is the very long route.
- Deposit Gear to Lift#3 crossing baseline in the process. Go to wall dispenser and get balls.
- Deposit Gear to Lift#3 crossing baseline in the process. Go to wall dispenser and get balls. Continue down the field to next station and release balls as well.\
- Cross baseline on one side and go around the field dumping as many balls from wall dispensers as possible without causing fouls.
Auto-modes:
- Do Nothing
- Cross Baseline (Move Forward)
- Place Gear, requires lift position number
- Place Gear & Cross Baseline
- Dump Balls & Cross Baseline
- Grab Balls from Hopper
- Place Gear, Cross Baseline, Grab Hopper Balls
- Place Gear, Cross Baseline, & Dump balls (In that order)
Each auto-mode will also require the starting angle of the robot (0 degrees being the front facing away from the back wall).
Let's clarify things. There will be two pull-down selections on the driver station. We'll call them
- AutoMode (values 0 to 7)
- AutoPosition (0 = Left, 1 = Middle, 2 = Right)
The value of Auto Position may or may not matter, depending on the value of Auto Mode. The list below provides a numerical value for AutoMode and the corresponding values for AutoPosition when applicable.
Assume the Red/Blue side of the field can be obtained from the FMS.
- (0) Do Nothing. AutoPosition is N/A
- (1) Cross Baseline (Move Forward). AutoPosition is N/A. Assume robot starts and moves forward with no obstructions.
- (2) Place Gear, requires lift position number. AutoPosition must be set to 0, 1, or 2.
- (3) Place Gear & Cross Baseline. AutoPosition must be set to 0, 1, or 2.
- (4) Dump Balls & Cross Baseline. AutoPosition is N/A. Assume closest position to goal.
- (5) Cross Baseline, Grab Balls from Hopper. AutoPosition must be set to 0 or 2. Setting to 1 is the same as setting to 0.
- (6) Place Gear, Cross Baseline, Grab Hopper Balls. AutoPosition must be set to 0, 1, or 2.
- (7) Place Gear, Cross Baseline, & Dump balls (In that order). AutoPosition is N/A. Assume closest position to goal.
The new dashboard code is in github under FRC2017_LabVIEW_Dashboard
The values for autonomous exported to the robot code are
"DB/AutoMode" (values 0 to 7)
"DB/AutoPosition" (values 0 to 2)
Here are the numbers for moving in autonomous:
--power-- | --time-- | --distance without gyro-- | --distance with gyro-- |
50 | 2 | 114 | 102.5, 101 |
50 | 1 | 50 | 45, 45 |
100 | 1 | 90 | 79, 83, 83 |
100 | 2 | - | 208 |
50 | 2 | - | 91, 92(moving sideways) |
I'm adding a toggle switch to the Labview dashboard. The UP position is "red" and the DOWN position is "blue". We will use this switch to tell the robot which side of the field we are on. The software is supposed to be able to make a call to get the field information but since we can't test it until we get to the actual FMS, this feature is a plan-B in case the call doesn't work and we have to manually set red/blue for each match.
The value returned is a 32 bit integer.
Blue = 0
Red = 1