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Originally Posted by rich2202
I'll have to tell the programmers to check their position, and do not shoot if not in the right place.
This is harder than you think. Unless your vision system can accurately tell distance (and therefore derive your position on the field), there isn't much your programmers can do. Most defences like the Rough Terrain or Ramparts will render encoders basically useless until you're on flat ground again.
That being said, I think a lot of teams will get stuck on defences, or read their position inaccurately, during autonomous. However, some teams may have a way to mitigate this
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Everyone's roboRIO has an accelerometer built into it.
If a team can't use that to tell the difference between being flat on the floor or sitting on a defense before firing... I will be very sad.
I might even go around at events making sure every team that plans on shooting, that our team would play with in quals at least, can utilize that feature to ensure no fouls.