1-5-13
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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