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UseCases.md

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The following are a list of use cases for the 2019 robot:

  • Drive: The driver moving the bot around the field getting it into position do do a different use case.
  • Release Hatch: Aligning the robot up with a target and attaching a hatch.
  • Climb Podium: The end game of climbing up the podium for final points.

Drive

Basic Flow

  1. Drive will control the movement of the robot via an analog joystick
  2. Camera will be in "DRIVER_CAMERA" mode
  3. DS will display distance from the front of the bot
  4. DS will display "field" angle

Alternate Flow

  • None

Design Notes:

  • Plan is to use a mecanum drive - cartesian?
  • Gyro will "zero" itself to the field at startup

Release Hatch

Basic Flow

  1. Driver pulls up to "station"
  2. DS alerts user that its within TBD inches of anything
  3. Driver tells bot to go into "autonomous release":
  4. Bot goes into "autonomous release":
    • DS shows that bot is controlling the bot
    • Camera switches to "VISION_PROCESSOR"
    • All other control of bot is disabled
    • These will all happen together
      • align center of robot with center of target
      • align front of bot parallel with target front
      • move within TBD inches of target
    • DS shows when the bot is "aligned"
  5. Driver selects to release hatch
    • Bot pushes off hatch
    • TBD if bot will need to move backwards or something at this time....
  6. Bot return back to "driver operated"
    • camera switches "DRIVER_CAMERA"

Alternate Flows

  1. Driver can abort out of "autonomous release"
    • Bot returns to "driver operated"
    • DS shows the user is in controller

Design Notes

  • The "final" release of the hatch may be done autonomously (step 5)

Climb Podium

Basic Flow

  1. Driver tells bot they're going to "approach podium"
  2. Bot switches camera to "DRIVER_CAMERA"
  3. Driver drives up to podium
    • DS shows distance from front of bot
    • DS shows angle to field 4? Should bot take over at all?
  4. DS will show if bot is aligned correctly
  5. Driver put bot in "climb" mode
    • Is there anything we should disable at this time? maybe the control of movement is VERY slow??
    • DS shows that the bot is in "climb"
  6. Driver tells bot to rise
    • Bot actuates its front and rear lift actuators
    • DS displays when bot has cleared the podium
  7. The driver tells the bot to "fall forward"
    • Bot retracts its front lifters
    • Bot drives forward - TBD how long (how do we not drive off podium??) or is this driver controlled
    • if manually controlled only allow it to go forward?
    • greatly limit how fast the bot can maneuver
    • Driver tells bot to retract its rear lifters

Alternate Flows

  1. Driver can abort
  • Bot will stop anything autonomous that it's doing

Design Notes

  • None

Autonomous vs Teleoperated

  • No difference between the two modes.