Monday, February 3, 2014

1/5/2014 Day 1: Strategy, Game Analysis, and Requirements Document

1-5-13

A more lengthy and more in depth document of Day 1.

Scoring:
            Low goal - 1pt
            High goal - 10pt
            Truss toss - 10pt
            Truss catch - 10pt
            Bonus:
                        1 Assist: 0
                        2 Assists: 10
                        3 Assists: 30

            Penalties:
                        Foul - 20pts
                        Technical - 50pts

            Autonomous:
                        Mobility bonus: +5
                        Any goal: +5
                        Hot goal: +5

Game notes
            Assists: # robots in possession of ball in unique zones
            Score all auto balls before cycles begin
            Up to 3 assists per cycle
            10 second autonomous
            2 minute, 20 second teleop
            20” outside frame perimeter after start of match
            Truss = 5’2” , top = 6’2”
            goal = 6’10” at bottom, 3’ tall, 11’ wide
            low goal = 7” lip, 29” up, 28” sides
            field = 24’8” x 54’

Robot:
            112” perimeter
            120lbs weight limit
            60” tall starting config
            6” cylinder above robot in goalie zone
            Bumper zone = 2”-10”

Technical fouls:
            Human reaching into field
            Possessing opponents ball
            Ball entered not from side of field
            Ball inbounded does not contact robot or carpet first
            Human player impeding opponents ball
            Ball grabbed or removed if pedestal not lit
            Ball inbounded if pedestal is not lit
            Impeding flow of match
            Drawing fouls
            Contacting robot or ball in contact with robot
            Touch OI during autonomous
            Intentionally picking up other robots
            Robot extending outside field
            Contact inside another robot’s frame perimeter
            Pinning
           


Strategerizing
            Overall game:
                        One robot cycles (1 assist)
                                    Pros:
don’t rely on other robots
other robots are free to play defense
less risk of ball loss
less scouting required
fastest cycle time
                                    Cons:
miss out on assist points
no assist points = no ranking points
tell other robots to not touch ball (rude)
no catch points
            Two robot cycles (2 assists)
                        Pros:
                                    Not missing out on assist points
                                    3rd robot can play defense
                                    Allows weak offensive partner to be useful
                                    Catch points
                                    assist points = ranking points, so higher seeding
                        Cons:
                                    lose ball, cycle takes longer
                                    not getting aaall of the assist points
                                    lots of assist practice
                        Three robot cycles (3 assists)
                                    Pros:
                                                max points possible per cycle
                                                whole alliance involved
                                                good for scouting
                                                assist points = ranking points, so higher seeding
                                                weaker robots can score points
                                                most flexible, can fall back to one or two robot cycles
                                    Cons:
                                                slow
                                                heavy reliance on partners
                                                high risk of ball loss
                                                lots of assist practice
                                                may lose assist points if takes too long
                        High goal scoring
                                    Pros:
                                                points! yay
                                                can also score truss points
                                                used in autonomous
                                                looks good :D
                                                pass to human player
                                                used for passing
                                    Cons:
                                                harder to achieve
                                                can lose ball more easily
                                                takes resources
                        Low goal scoring
                                    Pros:
                                                simple
                                                easy to make, less resources
                                                possibly more cycles?
                                                harder to miss, less risk if you do
                                                easily pass to other robots
                                                easy to adapt mechanisms to accomplish
                                    Cons:
                                                fewer points
                                                not cool bro : (
                        play goalie
                                    pros:
                                                block shots
                                                awesomesauce :D ie look like a pro
                                                possible in autonomous
                                    cons:
                                                6” wide blocker
                                                not scoring points
                                                limited application (only effective against high goal scoring)
                        play defense (pushy or fast)
                                    pros:
                                                preventing points from being scored
                                                prevent other teams from seeding high
                                                combined with other strategy, ie assists
                                    cons:
                                                not scoring
                                                not necessarily preventing scoring
                                                risk of fouls (pinning, etc)
                        Throw balls over truss
                                    pros:
                                                points
                                                simple with launcher, compatible with high scoring
                                                reliable, immediate points
                                    cons:
                                                need to catch or retrieve ball
                                                makes ball bounce or exit field : (
                                                may miss, would be bad
                                                slower than driving under
                        Catch thrown balls
                                    pros:
                                                points
                                                same mechanism for passing or receiving from human player
                                                compatible with launcher
                                                easy to build
                                                immediately in possession of ball (assist)
                                                avoid defensive robots
                                                looks cewl
                                    cons:
                                                very hard, better drivers or maneuverable drivetrain
                                                relies on alliance partner
                                                missed ball = bad
                        Fine control of ball on field
                                    pros:
                                                very good at assists
                                                improved cycle time
                                                easier to chase down ball
                                                cool
                                    cons:
                                                mucho practice-o
                                                harder to build, more resources
                                                reach out, therefore bigger target
                        Herding ball
                                    pros:
                                                its easy
                                                assisting
                                                less resources
                                                less risk of trapping
                                    cons:
                                                slower cycles
                                                everyone else can do it
                                                its easy - to lose control
                                                need agility, maneuverability, good drivers
                        Pass to other robots
                                    pros:
                                                assist points
                                                compatible with other mechanisms
                                                looks good :D
                                    cons:
                                                rely on partners
                                                takes time
                                                requires good drivers
                                                possibly lose control of ball
                                                requires mechanism
                                                potentially incompatible designs between robots
                                                bad for ego : (
                        Catch passed balls (floor)
                                    pros:
                                                same mechanism as floor pickup
                                                works well with other strategies
                                                can be the scorer
                                                good for ego : D
                                                relatively easy?
                                                very attractive feature
                                    cons:
                                                requires mechanism to gain control of ball
                                                kinda sorta a little required
                        Pass ball back to human player for easy assist
                                    pros:
                                                fast maneuver
                                                potential assist points
                                                more options (against defense)
                                                fairly easy maneuver
                                    cons:
                                                requires a launcher
                                                can only do in four locations
                                                risk of losing ball
                                                risk of penalties
                        zoned offense (passing zone to zone)
                                    pros:
                                                less robot movement
                                                simple strategy
                                                requires one good shooter
                                                fastest passing strategy
                                                compatible with defense
                                                easy with rookie teams
                                                compatible with most robots
                                                can be done by only two robots
                                                oh yeah. : D
                                    cons:
                                                risk of losing ball
                                                reliance on partners
                                                restrict drivers
                                                potentially easier to defend

Autonomous:
go for hot goal
            pros:
                        points
                        easier than most vision tasks
                        have programming resources
                        experience
                        cool : D
            cons:
                        requires vision
                        less points for amount of work
                        go for second ball
                                    pros:
                                                more points
                                                awesome
                                                have the resources
                                    cons:
                                                hard
                                                chase down missed ball before cycles begin
                                                limited time
                                                harder to get the hot goal twice ?
                                                harder to maintain position of ball
                        drive forward into zone
                                    pros:
                                                super, super easy
                                                points
                                    cons:
                                                anyone can do that
                                                requires a teensy bit of programming
                                                further from human players at end of auto
                        bulldoze into corner goal
                                    pros:
                                                mobility bonus
                                                easier than shooting
                                                less risk
                                                reduce risk of two ball auto (second ball)
                                    cons:
                                                fewer points
                                                only two goals, alliance partners might both do this
                                                makes two ball auto harder
                        Start in goalie zone, play defense
                                    pros:
awesome if works
close to human players
            can be easy to program
                                    cons:
                                                hard
                                                cannot score in auto
                                                harder to do it well
                                                cannot defend corner goals
                                                requires 6” paddle
                        don’t shoot, start with one less ball, start close to human player
                                    pros:
                                                less risk
                                                really, reaaaaally easy
                                                Cal gets fired
                                    cons:
                                                no ball, no shirt, no points.
                                                looks not cool : (
                                               

Want to do
Controversial
Do not want to do/No discussion
One robot cycles
play defense
play goalie
Two robot cycles
Catch thrown balls
go for second ball
Three robot cycles
Herding ball
Start in goalie zone, play defense
High goal scoring
Pass ball back to human player for easy assist
don’t shoot, start with one less ball, start close to human player
Low goal scoring
zoned offense
go for hot goal
Throw balls over truss

bulldoze into corner goal (autonomous)
Fine control of ball on field


Pass to other robots


Catch passed balls (floor)


drive forward into zone




Decided defense does not dictate the design
Catching thrown balls can be divided into two groups:
            catching from human players
            catching from other robots
Everyone is for catching from human player
            To what degree? close or further away?
            All want to catch from close-up
Catching from other robots will not drive design, is not a requirement
Herding balls
            herding is a feature, preferably using intake mechanism
Pass ball to human player
            nice to have, won’t drive design
Zoned offense
            possible design: intake on one side, spit out on other
                        not a design feature


Required Robot Attributes:
            Defense:
            Catching thrown balls:
           
                       
Drivetrain discussion
            Omnidirectional useful, but do not want
            Performance for standard skid-steer
                        Cal and Linus: speed over force
                        Alex: speed and force, two-speed shifter
                        Brittany: speed is good, force might be nice for defense
                        Gary: fast but with more torque
                        Danny: two-speed, shifted a lot last year, use better transmission, lower speed for finer driving
                        Alex: 3-CIM gearbox alternative to two-speed for speed and power with fine control
                        Gary: cheap and easy to add another CIM to each side of current drivetrain
                        Brittney: drive of CRUSH, two-speed very useful last year
                        David: functionally want speed AND force
                        Danny: putting 6 CIMs on drivetrain limits mechanisms
                       
Launching ball:
            Trajectory
                        flat as it enters goal
                        determined by whoever designs the darn thing
Spin
            Grant: spin probably not needed
            Cal: spin not necessary
            David: spin takes a lot of angular momentum
                        consensus: not needed
           

Robot Requirements

Type:
            Functional - what the robot needs to do
            Performance - how well the robot needs to do something

Priority:
            Must - cannot live without
            Desired - would like to have



Num.
Description
Priority
Performance
0
Win
Must
Yes
1
Drive
Must
Speed - ~10 actual fps
Force - a lot
2
Omnidirectional
None
Does not exist
3
Launch ball
Must
Height - 100”
Accuracy - 95%-100%
Spin - no
4
Floor pickup
Must
Speed - <= 1sec
Offset - ~50% ball diam.
On-the-fly pickup - yes
5
Remove ball (no launch, no bounce)
Must
Time - <= 1 sec
Speed - >= 5fps
Control length - <= 50% ball diam.
6
Human player reception
Must
Distance - 5 to 10 feet
Horizontal disp - +/- 8”
Accuracy - 100%
7
Herding mechanism
Desired
Works. Not a driving feature

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