Plans for autonomous mode?

Plan: Back up off the initiation line and sink three balls.
Stretch plan: Collect five more balls out of the trench and sink some/all of those, too.

I think it’s quite likely we’ll pull off the first, significantly less likely we’ll pull off the second.

Challenge accepted. :wink:


In Pathfinder are you able to implement camera usage? As in add it into the programming trajectory?

I’m holding you to this statement @hamac2003


I plan on trying to implement it, I believe that if you have your auto command to center the target shoot, run it sequentially with the pathfinder you can do it just fine. Refer to this.

@djp0915 Let me know how PathWeaver goes for you. We’re still struggling to get it to work. We have WPILib Trajectories working, just can’t get the bot to drive a trajectory from PathWeaver.

I started a thread on it, but haven’t gotten any comments yet. 2020 PathWeaver challenges

(Minimum) -> move off the line
(Achievable) -> move off the line and shoot 3 balls into outer port
(Potentially) -> shoot 3 balls into outer port, move off the initiation line and pick up 5 balls

We have pretty good programmers this year so I expect we’ll have a pretty solid auto.

Have you successfully implemented encoders? Start with that, I’ll let you know how pathweaver goes for us! Our first time as well, I fact this is my teams first time using command based!

I’m looking forwards to the spin in circle auto routines. Those are my favorites.


I would like to challenge the programmers on our team.

Shoot 3, move off line
Move off line, shoot 3
Shoot 3, move and pick up 2, shoot 2
Shoot 3, move and pick up 3, shoot 3
Shoot 3, move and pickup 5, shoot 5
Shoot 3, move and pickup 3, shoot 3, move and pickup 2,or 3, shoot 2 or 3
Move and pickup 2, shoot 5, move and pickup 5, shoot 5
Shoot 3, move and pickup 5, shoot 5, move and pickup 3, shoot 3
Shoot 3, move and pickup 5, shoot 5, move and pickup 5, shoot 5.
That should cover most of them.

I’d further challenge them to shoot while moving just to see if it can be done.

I don’t know which of these can actually be done but I’d like to see them try before they tell me “no”.

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List looks familiar. We added “push alliance member who has no auto off initiation line”


I would like to point out how valuable this is at an absurdly low cost in terms of time. You can start your robot such that the edge of the bumpers are halfway over the tape, and place the other robot such that they are directly against your bumpers, and therefore also over the same segment of tape. By merely pushing them forward an inch*, your alliance gains those additional 5 points “free” of charge.

*you probably want to push more than that to be safe but the underlying point is the same


Did anybody notice this little gem? -

This reinforces what RobotNerd1 said!


@djp0915 We’re using last year’s bot for practice. It has CTR Mag encoders and a NavX gyro, both working with WPILib Odometry and Trajectories.

Thanks man :upside_down_face:

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Haha, you guys are actually the ones I was thinking of. Great robots, great spins, great team(s).

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When in doubt. Give them the ole Razzle Dazzle

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Which trench? Have been debating the points gain in auto for trying to go to your trench (much more doable) vs stealing the other alliances trench balls, even if you don’t have time to shoot them) as it gives you a fast first non auto cycle and then you go after your trench run balls. The advantage is 2 fairly short cycles and the second one has a natural protected shooting position.

You risk colliding with the opponent robots and getting tech fouls (rule G10).

a 35 point auto should be relatively simple and a 57 point auto not out of the question by a single bot. By champs there will be an alliance capable of putting up 136 points in Auto.