Robocoach functions that change as the match progresses??

[SteveJanesch]

We're working on something similar now, but our commands are "Get Ball 1/2/3" and "Stop", with a repeating default of running half a lap. We assume there'll be contact, and want to prevent damage to ourselves or others if possible.

As far as sensors go, we're trying to incorporate a gyro for orientation, wheel coders (with the gyro) to accumulate x,y position on the field, ultrasonic rangefinders looking left and right for position in the lane, and a range finder looking up to detect the overpass. The problem we'll face in incorporating it all is what to believe when - if no 'bots or balls are next to us in the lane, the sum of the rangefinder readings should be 13.5 feet less the width of our robot. That'll happen occasionally at best - the rest of the time the sum will be less, unless we get spun out. Should be interesting.

Steve