Hot Goal Timing Issues

[tr6scott]

Video : http://youtu.be/rMa97wE1XIc

Week 4 was our fist event, and having read about the issues and seeing it on the videos we worked hard to get this worked out on Thursday practice matches.

We are using a sensor to detect the dynamic reflector, we line up at the start of the match, and we have to make our hot detection prior to moving the bot, once we move the photoeye is no longer aligned.

We chose this as we have never done vision processing on a comp bot yet, and this seemed so simple that it was not worth the effort, for the point bonus.

This was taken at Week 4 Midland Mid Michigan event, and the timings below were calculated with raw video from my Nikon D5100. I am not sure about the frame rates after processed by YouTube so posting data here.

Summary, we have to wait a full second to detect, it was 750 mils to see the dynamic sensor move in frame. Also the second between 6 and 5 on the clock is significantly longer than a second. I suspect as the field electronics are running the code to change the states of the dynamic sensors and lights, there is extra processing happening. It appears that the added length from 6 to 5 is the taken off from 5 to 4 as 6 to 4 timing is 2 seconds.

For our bot, 1 second after autonomous starts, we check the sensor, and then turn on the underglow to match the goal we are shooting at.