How to effectively get coral in auto

FIRST General Forum
22

You might want to check the last line of G402. Also Section 6.3.1, point C.

23

G402 *Let the ROBOT do its thing. In AUTO, a DRIVE TEAM member may not directly or indirectly interact with a ROBOT or an OPERATOR CONSOLE unless for personal safety, OPERATOR CONSOLE safety, or pressing an E-Stop or A-Stop. A HUMAN PLAYER feeding CORAL to their ROBOT is an exception to this rule.

This year’s manual has, in my opinion, a larger than average number of discrepancies and contradictions, but feeding the coral in auto is not one of them.

4 Likes
24

Having coral roll directly into the robot like the kitbot does should make any sort of game piece detection/vision unnecessary.

1 Like
25

The difficulty of getting coral from the coral station in auto depends on the orientation you’re intaking at. If you’re intaking it horizontally, you can just drive up to the coral station and have the HP drop it in horizontally, but if you want to intake it vertically, there are 3 groves on the coral station that keep the coral aligned vertically while it’s dropping down, so you would need your robot to align precisely with one of those grooves, which would likely require a vision system.

26

vision is needed for teleop-to line up to the reef’s branches
(atleast imo, to line up the dt quickly.)

2 Likes
27

This is completely untested, but I have a feeling that with a sufficiently wide intake and decent odometry, a robot could dump coral onto L1 autonomously, realigning itself by always driving a little extra so its bumpers end up flush with the reef or coral station after driving each direction. And for branches in teleop maybe something similar could be done, where having bumpers flush is how far forward/backward you need to be to place on branches, so driver only needs to worry about lining up left to right?

28

Dumping into L1 shouldn’t require any vision at all!! I would actually love to see a small anklebiter robot like that, who could effectively take care of all of L1, and manage scoring algae into the processor.

1 Like
29

I misread your comment and thought you meant in auto mb

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30

Along the lines of G429: Could a human that starts in the Coral Station Area move into the Alliance Area after Auto, but during the Match? Or would this be a violation of G429c?

If so, you could have a single individual feed robots Coral during Auto, but then move to the alliance area and handle the controls of the robot, right?

1 Like
31

You need to read TU#1, specifically the modification to Figure 5-4.

Once you read that, you’ll know that it is not a violation of G429. Whether it makes sense to do that, that’s your call.

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