Quote:
Originally Posted by davidalln
DO NOT USE A CAMERA!
You're over-complicating the problem. Especially if you're going straight, your drivers should be able to line up the robot relatively straight. You can use line sensors to make slight adjustments (if you're going straight; if you go Y you're going to need to take in effect the sharp turn left or right, but that isn't too difficult a problem), or use a gyro or encoders of any combination of the three. Remember, the ubertube has the biggest hole of all the tubes, and thus is the most forgiving for error.
Like Alan said, our job as programmers for autonomous is to score. As cool as it would be, don't let pride interfere with missing an opportunity to put up big points. There's always time in the offseason for playtime, now is your time to do well for your team.
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From watching the matches, it seems as though many drivers have a tough time lining up just right. This is something that is very easy for the camera to do, the camera is awesome for centering the peg, and a rangefinder is awesome for knowing the distance to the goal.
So yes, if you only plan on using an autocap type function for the first 15 seconds, don't use the camera. But if you want to create reusable code which will increase the # of caps you may be able to pull off in a match, you may want to consider it.
If your robot has the ability to strafe, even more reason to use the camera. I'm just saying, the camera really isn't as difficult as its made out to be. I'd actually say if you use the camera correctly, its easier than using encoders.