Autonomous Modes To Do List

[kevlam2706]

Auto modes subject to the list created by the students but I think we need some variation on this list:

• [x] do nothing
• [x] drive forward to baseline only
• [x] gear in center peg with vision assist
• [x] gear in left/right pegs with vision assist
• [x] gear in center peg without vision assist (on-board sensors only)
• [x] gear in left/right pegs without vision assist (on-board sensors only)
• [x] combinations of the above that also move us across the field, hopper popper, etc.

Solving the "how to get there" problem can be done by using straight/rotate segments, record/replay, or curve drive, whichever works best.

Very important:

• [x] DOCUMENT the autonomous modes, ideally with diagrams (create a 2017 AutonoModes booklet for the Drive Team)
• [x] include any key or critical information like distances, placement of the robot
• [x] go over all this with the Drive Team, make sure they're happy

[kevlam2706]

A new factor to consider: if the gear pegs aren't in great shape, there is a risk that the peg doesn't hook the gear properly. In teleop the driver fiddles with the position of the robot until they get it right. In auto we don't have that option. If we automatically try to deploy the gear when it's not hooked, the gear will fall off.

A potential solution could be:

1. Autonomously drive up into the gear peg with the gear.
2. If the peg intrusion sensor detects the peg, then you know for sure you've done it right. Let go and drive away.
3. If the peg intrusion sensor does NOT detect the peg, it is possible that it is hooked properly, but it is also possible that it is not. Stay in position, holding the gear, and wait for autonomous to end. At the beginning of teleop the driver can decide what to do - either let go of the gear, or back away and readjust.

The above algorithm is probably best for the side-gear autonomous modes, as there is currently (as of week 1 of competitions) no expectations of getting a 3-gear auto, so any 2nd or 3rd gear deployment is a bonus. If we're deploying the primary gear for auto, we can aim for the center peg which hopefully means we have a nice clean shot using our vision system.