Hot Vision Target Switching Question

[rmkemker]

All:

According to Section 2.2.4, both hot targets start (for autonomous) by facing the field (hot) and then the FMS randomly directs one of them to face upward upward to indicate that particular target is "not hot" for the first five seconds.

My question is, does the target get switched to "not hot" before the robot begins its 10 second autonomous mode or do both occur simultaneously? My worry is that if the robot takes a picture of the target before it turns "not hot" since the program will likely be faster than the mechanical flipping of the target, the robot will act under the impression that target is "hot" when it is not. I know we can wait for it to change; but for those of us planning to be able to shoot two balls if necessary, every second is precious. Thanks!

-Ron

[Joe Ross]

See Q66

[Chris Hibner]

I guess Q66 doesn't exactly address the question. It would be nice to have some spec that says, "the not-hot goal indicator shall fully conceal the reflective tape within 0.15 seconds from the start of auto mode." In other words, it great that they say that the signal will be sent immediately, but how much signal delay is there, and how long does the mechanical system take to react?

As of now, I have no idea how long to wait to decide which goal is hot, and will continue to have no idea until we see an official field.

[Woolly]

The safe bet is to wait as long as you can while still getting the ball to the goal before 5 seconds.

[Chris Hibner]

Originally Posted by Woolly

The safe bet is to wait as long as you can while still getting the ball to the goal before 5 seconds.

If you're trying to score more than one ball, I would like to wait as little as possible.

[Woolly]

Originally Posted by Chris Hibner

If you're trying to score more than one ball, I would like to wait as little as possible.

Wait until you have just barely more than enough time to run your autonomous and if you see multiple targets, just guess.

[Alan Anderson]

Originally Posted by Chris Hibner

In other words, it great that they say that the signal will be sent immediately, but how much signal delay is there, and how long does the mechanical system take to react?

The signal delay to flip the target is essentially the same as the signal delay for the FMS to tell your robot to start Autonomous Mode. It is negligible.

I'm told that the mechanical system reacts "very quickly", faster than an eyeblink. That isn't much of a quantitative answer, but it should be better than nothing.

[Zmarken]

The FRC twitter posted a video of them cycle testing the vision targets. The mechanical movement seems pretty quick to me... And seeing as the vision strips are higher than 5ft off the ground (Game Manual; 2.2.4) the rattling/shaking of the target shouldn't be an issue.

Not sure if that answers your question entirely, but I hope it helped.

[Jared Russell]

I did not expect that much oscillation.