Collaboration during Autonomous

[cammy:)]

In this year's game, cooperation during the Autonomous period seems to be a possible way to get the maximum points.

For example, one robot could move all the totes to the auto zone, another one could stack them using vision, while the third moves the containers to the auto zone (or some other variation of this).

While it is certainly possible for one robot to score a stack of three totes by itself while the other two robots drive to the auto zone (maybe even pushing containers at the same time,) a collaborative stacking autonomous can also be a possibility.

Another thing I was wondering was whether or not it is worth it to bring the containers to the auto zone during autonomous for eight points. If the containers remain untouched, then during teleop, a robot could quickly bring the containers to the feeder station for "litter", preparing it for scoring the container with the litter on top of a stack of totes more efficiently, and for more points.

This could still be done if the containers were scored during autonomous, but it would mean that the robot would have to move them a farther distance back to the feeder station for a "litter".

What are your opinions?

[Kyle Heaton]

Auto this year is going to be very... difficult? My team has been discussing with me all the different autos that we may end up writing because of all the different robots with their autos, and then how all scoring sets require three robots, totes, etc.

Personally, I think most team need to have autos prepared for just mobility, but from different locations, such as by the driver stations, or between the landfill and auto zone.

[sviridovt]

One way I see of collaborating during autonomous is to come up with a standard autonomous for each team to abide by, its probably best for non-stacking robots to push their tote parallel to the landmark and then for stacking robots for them to be responsible for the middle tote and for getting the totes that were lined up by the other teams and stacking it. This is the only way I could see of pulling off stacking autonomous without robots getting in each other's way and not requiring all 3 robots to be able to stack (since there are no extra points for 2 tote stack over no stack).

[Rick Wagner]

My thinking has been evolving on this, and I am now leaning toward one robot stacking the three totes in autonomous. Here's how I think the robots in the finals might work together:

All three robots grab the containers when the match starts and drag them quickly to the auto zone and release them. Then two of the robots will go toward the step and start getting two of the containers there, possibly moving some grey totes out of the way in preparation for a container grab in teleop, and then returning to the auto zone for the robot set points.

Meanwhile, the third robot goes back to the three totes and lines up at one end of the line of totes, then moves forward stacking as it goes, then quickly puts the stack in the auto zone.

I think all this can be done in 15 seconds. Our discussions here ought to trend toward a consensus so teams can show up at their regionals with compatible (and multiple) auto modes.

[Jacob Bendicksen]

I'm not sure enough teams read CD for anything to become 'standard' at most regionals, though a good number of teams of teams will have multiple routines ready. It could work in St. Louis, and since successful playoff alliances will be playing together deep into Saturday, we could see some compatible autonomouses (autonomi?) then.