Statistics on top 20 teams?

[CoachPoore]

We were 5th seed on Archimedes...

Programming:
What language did they use?
C++

Threaded code or just poll in the teleop loop?
We divided the code into a number of different robot subsystems, each of which was called from {Autonomous,Teleop}Periodic. As much code as possible was shared between teleop and autonomous.

Did they do something in autonomous? If so, what worked?
We implemented an autonomous virtual machine which gave us the ability to quickly code many different autonomous modes for all 3 zones, and add more as the season progressed. We had around 20 programs ranging from "kick 5 balls" to "kick 3 and head for the center of the far zone" to "kick 2 balls then block the tunnel". Of the 20 we regularly ran about 5. I don't think we ever started in the near zone in any of our matches so far so there are several programs we never tried at a competition. We also had the ability to program a whole number of seconds delay before the autonomous program ran, which proved to be useful on a couple of occasions to make sure we were not in the way of our alliance partners. We used the 5 ball autonomous a lot at GSR and in NC. In Atlanta with a very capable field of robots we did not need it, but were still crossing the bump in autonomous when necessary for match strategy.

What problems did you encounter, if any, with WPILib?
None

Did you download the sources and rebuild WPILib/CanJaguarLib?
Downloaded the source for reference, did not rebuild WPILib. Did rebuild the CAN code so that it did not mind what firmware version number came back from the Jaguars as all of our Jags were returning the same (very) wrong number. Kept up to date with new releases.

CAN or PWM control?
CAN. No problems once we upgraded to the v89 firmware. We had 7 Jaguars on the CANbus.

Did you use the Classmate for programming your robot or student/school supplied computers?
We did not use the Classmate for programming.

Robot Design:
What sensors were used?
Encoders, limit switches, current sensing via the Jaguars, gyro.
Did you use the vision system?
We wrote aiming code but decided that ball pickup was harder than aiming the robot so we used the camera solely for video feedback to the drivers.
If so, what modifications did you have to make to the code?
What drive system?
4 CIMs, AndyMark 2 speed transmissions, pneumatic shift.
Wheels?
9" pneumatic at the front, dual omnis at the back.
How many motors?
9 motors
What material was used for the frame (Aluminum, steel, unobtanium)?
Alumimum
How did they control the ball?
"Active shepherding" units to guide the ball into a suction cup.
Energy storage for kicker (elastic, pneumatic, motor driven, etc.)?
Compression springs.
How did you cut your parts (water jet, LASER, mill, hand tools,etc.)?
Some parts were made on a mill and lathe. Most of the robot was made using hand and power tools.
Did you hang?
No
If so, what wenching approach did you use?

The Driver Station
Did you reprogram your dashboard code?
Yes
Did you use external controls beyond your joysticks?
No
Any problems in getting the USB to behave?
Not once we replaced the KoP hub
Did you use any unusual controls like WiiMotes, XBox controllers, etc.?
Gamepad for kicker control
Did you feel that the Classmate was fast enough?
Yes, once we replaced the default dashboard code

Anything else?
Any techniques that you feel might be beneficial to others in the future?