Using pressure pad to control during Autonomous

Competition Rules/Strategy
#1

While reading the rules I came up something that is not covered in the rules. Can the human player use the pressure pad the send commands to the robot in autonomous mode?

A simple example of this might be: if two robots are going for the same vision tetra and the human player steps off the pressure pad to prevent the collision. This seams like it should be allowed.

But what about this: in the program the robot performs Strategy A if the human player is on the pad when the robot is enabled but performs Strategy B if the human player steps on the pad after the robot is enabled.

Just something to think about

#2

Though there hasn’t been a definitive answer, there are already several threads about this topic:


#3

Theres a few other issues to bring up here. The pressure pad is really a large switch that is connected to the field control towers on each end. When the switch is open (human player is off the mat) the field control software will ‘automagically’ disable your robot. There is also a rule (i will update this when i find it with the number) that prevents human players from moving off the mat during auton mode. The only reason they are to move off the mat is if a personal injury or hazard is present. I am pretty sure the penalty for moving off the mat in auton mode is 10 points.

Hope this helps.

#4

The two rule that cover this are:
<G06> No team member may pass the Starting Line in their TEAM ZONE until the conclusion of the AUTONOMOUS PERIOD. All team members must stay within their alliance’s designated TEAM ZONE during the match. If a team member passes the Starting Line before the autonomous period ends, except to save their controls from a violent collision of a robot into the diamond plate, or leaves their TEAM ZONE during the match, the team will be assessed a 10 point penalty. If a HUMAN PLAYER leaves the HUMAN PLAYER ZONE at any time during the match for any reason other than personal safety, the team will be assessed a 10 point penalty. However, if such actions are deemed by the referee to be so serious to have affected the outcome of the match, the team may be disabled and disqualified.

<G08> At the start of the match, HUMAN PLAYERS must stand on designated pressure pad sensors to one side of the field. The ROBOT for each team will be enabled only while the HUMAN PLAYER remains on the pressure pad. If the HUMAN PLAYER steps off the pressure pad, the corresponding ROBOT is temporarily disabled until the HUMAN PLAYER returns to the pad. The HUMAN PLAYER must place their feet on the sensor to activate it. Placing objects on the sensor to activate it is not permitted.

Rule <G06> says the HP must be behind the line but <G08> says they must be on the pad. If the HP must be on the pad to enable the robot then there is a possibility that HP may be able to send control information to the robot during the autonomous mode.

I could not find any penalties on the HP leaving the pad during the autonomous mode.

Tim Tedrow

#5

dang…that would have been a good idea

#6

Slightly incorrect here, <G08> says they have to be on the pad for the robot to run, but it does not say that they have to stay on the pad, only that the robot won’t run if you step off. It seems to be just like the way it works during the regular gameplay.

The rule (<G06>) specifically says they can’t leave the HUMAN PLAYER ZONE. The HUMAN PLAYER ZONE is defined as: “The designated area at the side of the field between the pressure pad sensors and the LOADING ZONES, where the HUMAN PLAYERS may move while loading TETRAS onto ROBOTS.”

So it seems like an HP could step off the pad if it needed to stop the robot for some odd reason (say, if like previously mentioned, your robot was going for the same vision tetra a partner was). However, Dez is correct in that stepping off the pad stops the robot completely, and therefore can’t be used to switch modes/strategies.

#7

Everyone seems to be making the assumption that the pressure pad is active during the autonomous mode. Are you actually sure that is the case? I don’t see anything in the documentation that would validate this assumption. I can certainly imaging that the field control software could be set to ignore any input (or lack thereof) from the pressure pad during the first 15 seconds of the match. Sounds like it may be worth a question to the FIRST Q&A board…

-dave

#8

At this point, I’m making an educated assumtion based on this:

AUTONOMOUS PERIOD - A 15-second period at the beginning of the match in which the ROBOTS operate and react only to sensor inputs and to commands programmed by the team into the onboard robot control system Human control of the ROBOT is not permitted during this time. During this period, ROBOTS may perform any activities that would be permissible when operated under human control. All ROBOT operation and safety rules applicable during the operator control period are also applicable during this period.

You do make a good point though. I’ll get on the Q&A ASAP.

#9

I have a question involving the pressure pad. The camera system is powered by a PWM cable hooked to the RC. If the Human Player were to step off the pad, would the power pin on the PWM be turned off, or would power still be present, but no traffic be allowed on the comm pin. This is also relevent for custom circuitry which may have internal memory, will stepping off of the pressure pad de-power this equipment, or merely cease communication.

Also, on a related topic, what is the FIRST policy towards wearable controls? Is it acceptable to have a quick disconnect, or must the team use their match time to put on the control system.