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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

  • Map button A1 to ArmClear
  • Map button B1 to DriveForward 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 DriveForward 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 DriveForward 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.A - Enable the robot and press the button A1 3.A - The arm should have moved up to the position desired so it is above the height of the defense
3.A - Enable the robot and press the button B1
3.A - The arm should have moved down to the position desired so it is now lower
3.A - Move the robot onto blocks so that the wheels are not touching the ground
3.A - Enable the robot and press button X1
3.A - The wheels should rotate two rotations around
3.A - Keep the robot on the blocks
3.A - Enable the robot and press button Y1
3.A - 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

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