Double Tube Autonomous

[Tom Bottiglieri]

Originally Posted by SparxProgrammer

Alright Chief Delphi community, this is something that I think needs to be talked about.

We've all seen a hand full of teams include a unique ability into their autonomous: The ability to hang two tubes in autonomous. I first heard of this phenomenon after hearing of the RoboWranglers inplementation of this. I then was able to witness it live during the Pittsburgh regional, from 1114.

I want to know your thoughts on this. How did they do it? What makes it work so precisely? Obviously, the act of hanging those two uber tubes is one that requires both serious speed and precision of control. Did they use a camera? Did they follow lines? What do you think?

I can't speak for every team, but the way we are shooting to do this (competing this weekend) is by creating a queue of smaller, more controllable events. You can create a bunch of commands (Drive Distance, Turn Degrees, Raise Arm, etc), tune the heck out of each one separately, and then string them together to do something more difficult. The code from 254's robot last year had a system like this: http://www.chiefdelphi.com/media/papers/2397

We did the same type of thing in Java this year by creating an Interface for AutoModeCommands and making each one of our subtasks as a class that implements the interface. We could then just make a queue of tasks and execute them one by one. Easy. If you want to see more I can send you some code snippets.

Originally Posted by davidthefat

From the looks of it, I am not impressed by the programming ... I heard 33 used a potentiometer to track the angle of the robot.

You may not be impressed for the same reason you think a potentiometer can keep track of robot heading.