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FRC2706 / 2019-2706-Robot-Code

The main robot code for the FIRST 2019 challenge: Deep Space
MIT License
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How will we determine the starting configuration of the intake arms? #86

Closed KyleRAnderson closed 5 years ago

KyleRAnderson commented 5 years ago

One of the things that came up while I was working on the intake subsystem was the following question: how do we know what configuration the intake arms are starting in?

If we wanted to preload a ball, we would need the arms to be down. If we have a hatch, they would be up. This question can be divided into two question then:

  1. Can the arms be down in the robot's starting configuration?
  2. If the arms can be down, how will the robot know this?
kevlam2706 commented 5 years ago

My understanding is that the arms must be up in the starting configuration. There is no ability to preload a ball.

Well, there may be theoretically a way, but it's silly. Maybe something we could do for a reveal video trick, like last year's Fidget Spinner Mode.

KyleRAnderson commented 5 years ago

What we're currently thinking of doing now is the following:

  1. If the robot starts with arms down and no cargo is in the arms (read from IR sensor), attempt to raise the arms on robot start.
  2. If the robot starts with cargo in it (IR sensor), set the intake state to cargo and continue on.