Autonomous Perception

[kamocat]

Here's a clarified list of things that need to be measured for field-awareness, based on the Autonomous Planning discussion.

1. What region of the field am I in?
2. How available are the gamepieces?
3. What is the current score?
4. Are there any 'bots blocking me?
5. Are there any 'bot helping me?

(1)"region of the field" has been pretty much covered: track your location with the gyro and encoders. However, there's still a high possibility that this would get thrown off when a robot goes over a bump. Is there a way to compensate?

(2)"where are the game pieces" could probably be done with a camera. Is there a faster or more efficient way to find soccer balls?

(3) "what's the current score?" The camera has been brought up as a method of reading the scores off of the screen. I think that would be extremely difficult (due to lack of testing) to have working at competition. Would this information have to be supplied by the drivers?

(4 -5)"Finding nearby 'bots". This year, the bumpers were the key to determining a robot and their alliance. I'm still reluctant to use the camera for that, but I wonder about the possibility of a directional color sensor. I2C would probably be ideal, since it won't take up analog channels, and therefore several could be used for each side of the 'bot.