G39 - Autonomus

[rich2202]

Originally Posted by Jaci

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.

Does the Camera can see the goal in the right place? if not, don't shoot.

If you are lined up with the goal, then I'd risk taking the shot.

We have a NavX, so hopefully we can get some useful data from that.

[Jaci]

Originally Posted by rich2202

Does the Camera can see the goal in the right place? if not, don't shoot.

If you are lined up with the goal, then I'd risk taking the shot.

We have a NavX, so hopefully we can get some useful data from that.

You can be on a defence and still have acquired a valid vision tracking target. (i.e. middle defence). We're trying to avoid that issue as much as possible

[GeeTwo]

You don't need a gyro to figure out if you're on flat ground. You don't need to integrate at all. When you're stopped, check the accelerometer. The relative sizes of the X, Y, and Z axes will tell you the RoboRIO's orientation. Unless the mounting has broken loose, you can then figure out the robot's orientation.

Shooting based on an integrated inertial navigation position is likely to be a waste of time. If you aren't using vision code or otherwise aligning the robot to field elements, you're unlikely to hit a high goal. At least practice this to find your shot percentage so you can figure out whether the extra five points when you make it is worth the time to track the boulder down when you miss.

Don't just acquire a target; let it tell you where you are. The farther away you are, the smaller it shall appear. Don't shoot if the target is too small.

[Chris is me]

I continue to think we are vastly overestimating the number of teams that will successfully shoot high goals in autonomous. This is one of many, many issues teams will have in doing so.

So this won't be a big deal, if only because less than half a dozen teams per event will be successful in auton any way and other teams will stop trying to shoot.