Team 3015 is proud to reveal our 2024 robot, Cobra.
Cobra will be competing at the Greater Pittsburgh Regional, Finger Lakes Regional, and the Buckeye Regional.
Good luck teams!
I can’t wait to see this robot at FLR
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Does the auto cycles avoid obstacles or does it do the same path? I’m guessing avoid with the new Pathplanner stuff but it didn’t demonstrate any in the reveal.
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Can’t wait to see this in action!
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Those auto cycles are insane!! Absolutely love this robot!!
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Correction on the previous question. Currently it generates a path to the point we determine using Pathfinding. There are no predetermined paths.
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Any time the fire animation is playing on the LEDs it’s running with the auto cycling system. So it’s able to take over from anywhere on the field and avoid stuff along the way. We actually use it as a way to give the driver one button to do all the scoring/pickup stuff so his controllers are very simple.
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How would this affect the centerline note race? Does Cobra auto adjust and target another note if it “sees” that another robot is there?
Gulp. See you at buckeye!
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How does it adapt to defense? Does it live update its path? Human takeover? Brute force?
So, when the robot stopped, raised the arm and shot over the tall defender that was completely autonomous? Crazy impressive!
A pretty random question, what numbers do you give the CANdle for the fire animation?
And looking at your 2023 code it seems as if you’re giving it the numbers of LEDs * 3, why?
Those bumpers tho 
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We have object detection and defense avoidance stuff in the works, but the hardware just didn’t make it on in time since we need to be ready for a week 1 competition. We plan on getting that on right after. For now, the high shot is a modifier button held by the driver while it auto aims.
speed = 0.75, sparking = 1.0, cooling = 0.3
For 2023 we just didn’t know how to get the flame bigger so increasing the number of LEDs did that. This year we are using the right number.
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I love it, we had a lot of similar ideas and hopefully we end up with a finished product that comes close to this
I’m very impressed with the programming! I have a few questions:
There’s a lot of actuated components involved with the arm & shooter, how are you determining your setpoints for each component? How are you calculating the feedforward gains of your arm with an MOI that isn’t always the same?
For your autos, are you moving to preset angles & arm lengths, or is it done on the fly?
How are your auto paths being generated? Is it using PathPlanner or Choreo?
Amazing work, good luck at the competitions!
Now if you fall asleep mid match, no worries the robot will still function as need be!
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The arm is just a measured point and the wrist is set based on the launch angle we need to hit the goal.
Done on the fly based on field position.
Everything in teleop is PPLib paths/pathfinding. Auto is choreo paths in PPLib.
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I love this! Congratulations folks!
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!
Good luck at your events this season. Awesome robot in all phases of the game.
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