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Re: Moving to a point between lights with autonomous
Disclaimer: I do not have a robot, nor have I seen a robot the entire season (stupid graduating High School to go to college). However I have been thinking about this for quite some time.
Note: I fully thought it out around kick off. This is what I remember. Hopefully it can get you thinking in a good direction.
The first thing you need to have planned for in your autonomous is knowing your starting position, because that will make a difference later on.
When the autonomous period starts, have your camera track the closest light. Figuring out which light is the closest should be able to do be done relatively easily based off of the fact that you know all cameras are a constant distance apart. Then simply do an an angle check of the pan on the camera. If its too great, tell the camera to search the other way.
Now, once you have that target, you can make some reasonable estimates about the position of the off-light row. Using trig (specifically the law of cosines) you should be able to calculate the distance you need to adjust your robot in the X axis direction. That requires some ability to make reasonably accurate turns and movements (if you dont have some type of closed loop system, I would say go with the slowest viable speed to make those movements). Once you are aligned in the X direction, deploy your mechanism and drive forward the estimated distance that will get the ringer on the spider. I realize that you will be approaching the spider at an angle, but worst case scenario is about a 45 degree approach to it, which most arm designs should be able to handle.
Its not the best way. Its probably not fully thought out. It absolutely isnt tested. But the the thing it has going for it is that the math will work. There are a number of known things about the field when you first start the match, you have to use those to your advantage. It involved a lot of angle calculations. It involves creating lots of triangles to figure out distance accurately. When looking to make those triangles, remember a couple of things. Your robot will always be approximately the same distance away from the rack regardless of orientation but dependent on starting position.
The straight line distance is between spiders is a very useful thing for creating triangles.
Good luck.
__________________
Team 1546 Chaos Incorporated
2005- SBPLI Rookie All Stars
2006- SBPLI Sportsmanship award.
Gotta hand it to the straight line autonomous mode, the most effective defense out there.
Proud beyond belief of the accomplishments of the second year, 20th ranked, 6 wins and 6 losses Chaos Incorporated.
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