Autonomous Routines

Gyroscope Turn

So, to perform this turn, we will be taking an odd approach, where only one side of the drivetrain will move, while the other remains stationary. We discovered in testing that doing a tank turn works most of the time, but there are times where the motors can't receive the same amount of power. However, this isn't encountered with the one-sided turn.

Testing Procedure

One way we can do this is by programmatically getting the Alliance Color from the FMS (DriverStation.getInstance().getAlliance()) and setting which side of the motor should turn. However, this means that we will have to remember to set this when testing. This can be done from the FRC Driver Station very easily.

Gear-Only Routines

These routines involve the robot placing the gear on the peg. Also, the wheel we turn with will vary based on position.

Hopper Red: Left Hopper Blue: Right Boiler Red: Right Boiler Blue: Left

Gear Hopper-Side

1. Drive Forward to Baseline
2. Turn to Lift Peg
3. Drive Forward to Peg

Gear Center

1. Drive Forward to Peg

Gear Boiler Side

1. Drive Forward to Baseline
2. Turn to Lift Peg
3. Drive Forward to Peg

Relevant Measurement

Baseline: 93.25 inches (From Game Manual)