We would like to set our robot against the alliance wall and power it on. Once powered on (and gyro presumably zeroed) we would like to move the robot to angled portion of subwoofer. We don’t see any rules that prohibit this, but we are concerned we may be missing something.
We know it is possible to reset gyro in programming with offsets or to get our position with apriltags, but we are struggling with implementation of those concepts. We want to have a legal fallback plan if we cannot get programming fixes to work.
If anything, it may be better. We have been told many times to turn the robot on as soon as possible, which we have done and then moved the robot afterwards, so I would assume it would be fine as long as you dont hold up the match schedule.
This should be legal. The two rules you have to watch out for are:
G104: “Teams may not enable their ROBOTS on the FIELD.” You should not need to enable the robot to reset the gyro, but you should check than any relevant commands have either runsWhenDisabled() or ignoringDisable().
G301: “Be prompt. A DRIVE TEAM member may not cause significant delays to the start of their MATCH, … I. time-consuming use of alignment devices that are external to the ROBOT.” Field staff will be happy to give you feedback if they feel you’re causing delay.
