G17 Algorithm

[Passion]

Originally Posted by EricH

Incorrect.

T expire (x) = T now – { 11 + (4 * # unexpired balls currently in Station) }

T expire is the time at which the penalty is applied.

So, you put a ball in at 15 seconds left. Texpire = Tnow-{11+4*unexpired)}

Tnow is 15. We will assume an empty alliance station (unexpired = 0).

Texpire = 15-(11+4*0)=15-11=4.

They have until the timer reads 4 seconds left to put the ball back out.

For reference, the DOGMA document on the FRC website will help understand the algorithm. It is at http://usfirst.org/uploadedFiles/Com...sets/DOGMA.pdf

So the unexpired balls is any balls in the station prior to the incoming ball?
In this case, the unexpired balls would be 0, because you are assuming that there aren't any balls in the station until the ball rolls into the station.