CDS eject from shooter

[azvanderpas]

Sometimes cycling wrong colored balls out through the shooter would be better to get them out of our way.

Need to discuss with drive team to determine exactly what cases we want to do this in.

Initial case thoughts:

• intake wrong color with no other cargo in robot
• wrong color makes it to middle or top sensors (eject until only correct color remains)
• manually with operator button press (?)
• instead of ejecting correct color 3rd ball out front (?)

[azvanderpas]

I think a good way to tackle this is to refactor our state machine to use all the sensors as inputs rather than mostly the front/bottom. Here is a enumeration of the different ways the sensors could read colors. If we use this table to determine what the CDS should be doing, we may not even need to use proximity and instead just rely on the colors.

The bottom/front sensor may be tricky since it's color sense may be noisier. Might work better to use proximity on the front and colors on the middle/top.

This becomes less of a state machine with this setup, since the the case is determined by the measurements only and not the previous state.

0 = empty
1 = wrong color
2 = correct color

Bottom|Middle|Top
000 - empty/idle
001 - shooter eject
002 - idle
010 - shooter eject
011 - shooter eject
012 - front eject
020 - advance
021 - shooter eject
022 - idle
100 - shooter eject
101 - shooter eject
102 - front eject
110 - shooter eject
111 - shooter eject
112 - front eject
120 - front eject
121 - shooter and front eject
122 - front eject
200 - advance
201 - shooter eject
202 - advance
210 - shooter eject
211 - shooter eject
212 - shooter eject (or front eject)
220 - advance
221 - shooter eject
222 - shooter eject (or front eject)

IDLE
000 - empty/idle
002 - idle
022 - idle

SHOOTER_EJECT
001 - shooter eject
010 - shooter eject
011 - shooter eject
021 - shooter eject
100 - shooter eject
101 - shooter eject
110 - shooter eject
111 - shooter eject
201 - shooter eject
210 - shooter eject
211 - shooter eject
212 - shooter eject (or front eject)
221 - shooter eject
222 - shooter eject (or front eject)

ADVANCE
020 - advance
200 - advance
220 - advance
202 - advance

FRONT_EJECT
012 - front eject
102 - front eject
120 - front eject

CORNER CASE
121 - shooter and front eject

[azvanderpas]

@Ariya3: with the new ways to run eject that you put in git hub, whenever we run shooter eject with 021 or 121 where there’s still the right color ball in the cds are we still dumping all the balls?

[azvanderpas]

Running shooter eject when the state is 021, then it should become 002 once the first ball is ejected causing it to go back to idle. But if both come out because it can't stop fast enough I think that's acceptable too.

121 is a odd corner case since ideally we'd eject from bottom and top and keep the middle, but it'll be easier to just pick one so we don't have to write the special case.