Scoring of rotors

[Cothron Theiss]

Originally Posted by ollien

Interestingly, unless I'm missing something, the manual doesn't reflect this "three full rotations" bit. Only the field tour.

According to the field tour, the FMS doesn't recognize that the GEAR set is being rotated until after three rotations, so that indicates to me that the scoring will coincide with the rotor actually turning, or in case of a field issue, the corresponding light activating.

I do wish that the manual didn't say the GEAR sets "engage the corresponding rotor." That implies to me that the GEAR sets are physically meshed with the rotor, when the field tour explains that the GEARs drive an encoder, which tells the FMS to turn on the rotor.

[Zeke E]

Originally Posted by Cothron Theiss

According to the field tour, the FMS doesn't recognize that the GEAR set is being rotated until after three rotations, so that indicates to me that the scoring will coincide with the rotor actually turning, or in case of a field issue, the corresponding light activating.

I do wish that the manual didn't say the GEAR sets "engage the corresponding rotor." That implies to me that the GEAR sets are physically meshed with the rotor, when the field tour explains that the GEARs drive an encoder, which tells the FMS to turn on the rotor.

Looks like we've got ourselves a steamacrit. It is odd that we don't have any written proof of how many rotations it takes, if there is a set number. Field tour makes sense, but I just can't bring myself to trust something not in the manual.

[Josh Tatum]

If they do not change the rules, a team could take the reserve gear and put it into the first Rotor. This would get them the 100 points but because the other alliance to also get 25 points which means that the alliance would net 75 points, which is greater than the 40 they would get if they waited for teleop.

[Bronze]

Originally Posted by Josh Tatum

If they do not change the rules, a team could take the reserve gear and put it into the first Rotor. This would get them the 100 points but because the other alliance to also get 25 points which means that the alliance would net 75 points, which is greater than the 40 they would get if they waited for teleop.

Good point. However, if you did do this, by employing a strategy that purposefully generates a foul (repeatedly), you are going quite seriously against the spirit of FIRST.

That being said, I am almost certain that the rules intended for autonomous rotors to be 60 points total, not 60 then 40. This would make the tech foul for taking the reserve gear and powering a rotor more of a penalty than the point bonus for getting an auto rotor. (you get 20, they get 25).

[GaryVoshol]

Good question. I'm sure the answer is going to be, "However FMS is programmed to score it." And I'd guess it would be scored either 60 or 40, not both.

But if a ROTOR is turning at time T=0 of Auto, then it's also turning at time T=0 of Teleop. So technically it should count both, per Table 4.1. Unless FMS turns off any turning ROTOR at the end of Auto.

Q&A will be the only definitive answer.

Edit: I'm pretty sure it would have to be one or the other, not both. Else the FUEL scored in Auto would also count again in Teleop.

[frcguy]

Originally Posted by botster

I would just like to point out that there has been no rule against all three robots placing their gear on the close spring. That would make scoring three gears considerably easier and faster than having robots drive to the far side of the airship, turn, and then place their gear.

Interesting idea, although I'd definitely check the Q&A for legality.