What are your thoughts on needing to time shots during hybrid? You wouldn’t want to mess up two perfectly good shots by shooting at the same hoop at the same time. Would you just shoot at different hoops, program coordinated shot delays or is this a job for the kinect?
If you can coordinate which hoops you shoot into with your alliance partners, then it won’t be a problem.
Part of our discussion over the hybrid period was that the Kinect should be used as a braking system. This seems like a year in which it would be pretty easy to have a fully autonomous robot during the hybrid mode, but the kinect could be used to stop a robot temporarily while others get out of its way.
I think a delay is only needed if you are going for the top basket. Then you need to coordinate with the other machine that is not in hybrid mode. Using a dip switch to indicate a shooting delay of 2 seconds should do it. If you are shooting for the side basket, then make your code flexible enough to do either side.
Note: If your plan in autonomous mode is to drive up to the center basket to take a shot, then you better have a plan B, and quick way to implment it (set a dip switch), if your bot is not chosen for that strategy.
We’ve used a potentiometer as a variable delay in the past. Just set the pot so it’s range is from 0 to 10sec or so, and then have the robot wait out it’s set delay after entering auto. It’s super simple to implement in software, very little hardware, and and prevents two robots from running auto at the same time if you coordinate ahead of time.