Quote:
Originally Posted by serenagh
Does anyone have a pre-match checklist they're willing to share/ suggestions? This sounds like a really great idea. I can imagine what the pit one would look like/include- what about the one for drivers? Thanks  |
Last year Team 1619's unwritten pre-match checklist for the drivers looked something like this:
1) Ensure you have officially reported to queue (with a robot)
2) Power up robot and tether to it with an ethernet cable while it is sitting on the cart
3) Once connection is established, double-check that the battery currently installed is the one from the previous match (ie: not a fresh one). The reasoning behind this will become clear shortly.
4) Warn people nearby before enabling robot for pre-match tests
5) Enable robot and run through a test of all robot functions. Drive forwards and back, turn left and right. As a note to the drivetrain tests, our robot cart acts as a set of blocks that the robot could spin it's treads freely on without fear of it running away on us. Grab out (combination of rollers and arm) and grab in, manual arm out, manual arm in, manual rollers out, manual rollers in, catch (combination of fingers and rollers), manual fingers open, manual fingers shut. Each check is performed twice and verified by the driver, operator, human player, and drive coach. This is done to ensure nothing unexpected has gone wrong during or since the previous match.
6) While the operator checks the functions he is in charge of, I would go through every bolt on the robot that was accessible with an allen wrench to ensure they were still tight, especially checking the belt tensioning cam. We used locknuts to fasten everything, but we were fairly paranoid after one was discovered to be loose when we had to fix something in the pits.
7) Let the compressor fully charge the pneumatic systems before disabling and turning off the robot. (this and the testing are the reasoning for the old battery in first)
8) Remove old battery and insert fresh battery. The fresh battery sitting on the cart underneath the robot is indicated by a piece of gaffers tape affixed to its side.
By this time we usually were near the front of the queue
9) Review match strategy with alliance partners, ensuring everyone remembers their role and where they will start during the autonomous period. Discuss specific robots on the opposing alliance that will need to be addressed and how to handle them (not applicable this year).
10) Dance if a good song comes on
11) Driver and human player place robot on the field using our calibrated measurement (spacing the robot to a torn flap on the sole of my shoe) while the operator takes the operator console to the player station and plugs in the laptop. Drive coach parks the robot cart.
12) Head back to the player station and again review the strategy for clearing missed autonomous balls. Get excited for the match and wait for the countdown!
We also had another unwritten list of procedures for when the match was over to remove the robot from the field.
1) Congratulate alliance partners on a match well played
2) Driver and human player wait for the alliance station lights to turn green while the drive coach and operator head to the cart with the operator console.
3) Driver and human player lift the robot from the field and replace it onto the cart upon exiting the field. Drive coach and operator pull the cart up to the gate so that the driver and human player don't have to carry the robot more than a couple feet off the field.
4) Head back to the pits while discussing things that went well and things that could be improved upon in the previous match. During the walk we would also lightly inspect the robot for any damage if there are concerns.
5) Take the battery used for pre-match checks and put it on the charger in the pits. Take a fresh battery and place some gaffers tape on it to mark it as fresh before placing it on the robot cart.
These steps helped us catch a few issues (such as a disconnected Anderson connector on our intake roller motors and a loose bolt on our drivetrain) before the match started and allowed us to perform at peak condition throughout our matches. The constant strategy reviews were a big help in qualification matches, because it ensured that everyone was on the same page during the match. It also allowed us to settle into a comfortable and familiar routine before every match, letting us get excited before a match without giving anyone time to ever get nervous, regardless of the situation. It was nice to have something that was the same every time when your alliance partners and opponents kept changing.
One thing that we didn't think do originally, but rapidly changed, is to ensure that between matches the whole drive team was drinking water. During the Utah regional last year I only had 12 oz of water the entire day (a glass of it with dinner), and I felt it that night. Constant muscle cramps overnight were not fun, and I know one of our human players had a similar problem. Since then we have been much better about hydration, and would caution other teams to not fall into the trap of "I don't have time". There's always time for life's basic necessities, even if you're at a robotics competition.