At last night's meeting, we discussed the possibility of adding a Score, Mobility, Dock and Engage (SMDE) Routine. We should be able to build upon the fairly stable "Score, Dock and Engage" (SDE) routine and add the Mobility component.
The basic idea is that the robot would be positioned in the same location as SDE (aligned and facing the cone scoring grid centered to the width of the charge station). After scoring, the robot would drive backwards completely over and past the charge station to the other side. Then, the robot would start the "Dock and Engage" (DE) routine in the forward direction.
The things we need to think about are:
How to reliably drive over the charge station to the other side
Use gyro only?
Use field odometry?
Use vision to augment/update odometry?
Total Time. We only have 15 seconds during autonomous. We need to optimize and speed up the routine wherever possible.
At last night's meeting, we discussed the possibility of adding a Score, Mobility, Dock and Engage (SMDE) Routine. We should be able to build upon the fairly stable "Score, Dock and Engage" (SDE) routine and add the Mobility component.
The basic idea is that the robot would be positioned in the same location as SDE (aligned and facing the cone scoring grid centered to the width of the charge station). After scoring, the robot would drive backwards completely over and past the charge station to the other side. Then, the robot would start the "Dock and Engage" (DE) routine in the forward direction.
The things we need to think about are: