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Testing Autonomous

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AMMack26 edited this page Feb 17, 2016 · 14 revisions

The robot autonomous runs the robot during the first 15 seconds of the match. It consists primarily of command groups.

1) Low Bar, Rough Terrain, Ramparts, and Moat

  • Map button A1 to ArmClear
  • Map button B1 to DriveDistance for two revolutions
  • Map button X1 to the command group for the low bar (Later will map command groups for rough terrain, ramparts, and moat to this same button for future tests)

1.A - Make sure robot is clear of obstructions
1.B - Enable the robot and press button A1
1.C - The arm should move to a position slightly off of the ground
1.D - Move the robot onto blocks so that the wheels are off the ground
1.E - Enable the robot and press button B1
1.F - The wheels should rotate two revolutions around
1.G - Keep the robot on the blocks
1.H - Enable the robot and press button X1
1.I - The arm should move up, and then the wheels should rotate around two times
1.J - Repeat this chain of steps for rough terrain, ramparts, and the moat

2) High Beam

  • Map button A1 to ArmToPosition( )
  • Map button B1 to DriveDistance for two revolutions
  • Map button X1 to the command group for the beam

2.A - Make sure the robot is clear of obstructions
2.B - Enable the robot and press the button A1
2.C - The arm should have moved to the position desired so it is above the height of the beam
2.D - Move the robot onto blocks so that the wheels are not on the ground
2.E - Enable the robot and press button B1
2.F - The wheels should rotate two rotations around
2.G - Keep the robot on the blocks
2.H - Enable the robot and press button X1
2.I - The arm should move upwards, and the wheels should rotate around two times

3) Cheval de Frise

  • Map button A1 to ArmToPosition( ) (This one is for raising the arm)
  • Map button B1 to ArmToPosition( ) (This one is for lowering the arm)
  • Map button X1 to DriveDistance for two revolutions
  • Map button Y1 to the command group for the cheval de frise

3.A - Make sure the robot is clear of obstructions
3.B - Enable the robot and press the button A1
3.C - The arm should have moved up to the position desired so it is above the height of the defense
3.D - Enable the robot and press the button B1
3.E - The arm should have moved down to the position desired so it is now lower
3.F - Move the robot onto blocks so that the wheels are not touching the ground
3.G - Enable the robot and press button X1
3.H - The wheels should rotate two rotations around
3.I - Keep the robot on the blocks
3.J - Enable the robot and press button Y1
3.K - The arm should move upwards, the wheels should rotate around two times, the arm should move downwards, and the wheels should rotate around two times

4) Portcullis

  • Map button A1 to ArmClear
  • Map button B1 to ArmToPosition( ) (This will be about 10 less than the max position)
  • Map button X1 to DriveDistance for two revolutions
  • Map button Y1 to the command group for the portcullis

4.A - Make sure the robot is clear of obstructions
4.B - Enable the robot and press the button A1
4.C - The arm should move to a position slightly off the ground
4.D - Enable the robot and press the button B1
4.E - The arm should have moved to a little less than the max position
4.F - Move the robot onto blocks so that the wheels aren't touching the ground
4.G - Enable the robot and press the button X1
4.H - The wheels should rotate two rotations around
4.I - Keep the robot on the blocks
4.J - Enable the robot and press button Y1
4.K - The arm should move up, the wheels should rotate around two times, the arm should move upwards, and the wheels should rotate around two times

5) Drawbridge

  • Map button A1 to ArmToPosition( ) (This should be an angle that is perpendicular to the ground)
  • Map button B1 to ArmToPosition( ) (This should be a little off of the ground)
  • Map button X1 to DriveDistance for two revolutions
  • Map button Y1 to DriveDistance for two revolutions (This will be for backwards)
  • Map button LB1 to the command group for the portcullis

5.A - Make sure the robot is clear of obstructions
5.B - Enable the robot and press the button A1
5.C - The arm should move to a position perpendicular to the ground
5.D - Enable the robot and press the button B1
5.E - The arm should have moved to a little above the ground
5.F - Move the robot onto blocks so that the wheels don't touch the ground
5.G - Enable the robot and press the button X1
5.H - The wheels should rotate two rotations around
5.I - Enable the robot and press the button Y1
5.J - The wheels should rotate two rotations around (This being backwards)
5.K - Enable the robot and press the button LB1
5.L - The arm should move to the perpendicular position, the wheels should rotate around two times, the arm should start to lower while the wheels rotate around two times (backwards), and the wheels should rotate around two times

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