Auto Modes

[JKeeganPierce]

General outlines for having multiple autos that can be run at the NC regional to do different tasks.

• Just drive. Same Auto as was run during Elims at Palmetto
• 1 RC into Auto Zone. Rear elevator lowers hook into RC, then robot drives forward into Auto Zone and ends after turning 90deg to be fully contained in zone
• 1 Tote into Auto Zone (v1). Rear elevator starts around tote, robot lifts rear elevator slightly and drives to zone. Same auto as run during quals in SC.
• 1 Tote into Auto Zone (v2). Uses main collector to pull tote in (but not lift) and then drive to auto zone
• 1 Tote and 1RC into Auto Zone. Combines autos 2 and 4 (work on this last).
• 3 Tote Auto Stack v1. (assumes 2 RCs are out of way)
• 3 Tote Auto Stack v2 (assumes nobody can move RCs and must navigate around them).
• 3 Tote Auto Stack w/ 1RC (assumes 2RCs are out of way and we grab 3rd to gaurantee a full 32pt Auto (would be really nice, but it's possible it won't happen and that's okay.

[CarlColglazier]

@team2059/aerial-assist-2015

Let's put a game plan together for which ones to prioritize.

[stonewareslord]

Some items were changed. Here's the updated list:

1. Drive to Auto Zone
2. Lower BinElevator, colelct bin, turn, drive to AutoZone, turn
3. Collect a tote with BinElevator, turn, drive to AutoZone, turn
4. Collect 1, 2, or 3 totes, turn, drive to AutoZone, turn
5. (TODO) Same as auto 4, but navigate around bins
6. (TODO) Collect 1 bin and 1 tote
7. (TODO) Same as auto 4 with Two and Three totes checked in dashboard, collect bin, drive to AutoZone

Changes:

• Two totes checkbox added for sequence 4
• Added Auto Bin Distance on dashboard. This is the amount of time to drive to collect a bin

[CarlColglazier]

7e4c948 looks pretty good.

Is there a reason why we are using booleans on the dashboard for every mode? Would it be possible to use a dropdown or something similar?

[stonewareslord]

Those are not supported by SmartDashboard

[JKeeganPierce]

Everything looks good to me. Just need to make sure we eject the totes in sequences 4 and 7 or the stacks won't count as stacks, but merely sets. Need to work out where robot can and will start for each auto, and make sure drive team knows exactly what to do for each...

[CarlColglazier]

Those are not supported by SmartDashboard

Could we replicate the functionality ourselves? This thread seems to have several interesting implementations [1].

Radio buttons would also works and it looks like those might by built in [2]. Other teams seemed to have implemented them, at least [3].

[1] http://www.chiefdelphi.com/forums/showthread.php?p=1375604
[2] http://www.chiefdelphi.com/forums/showthread.php?t=103775
[3] https://github.com/FRC-Team-5012-GryffinGear/FRC5012-Code-2015/wiki/Driver-Operator-Controls---Smart-Dashboard