Help me create an 18 ball autonomous with a gate cycling robot in DECODE season

The provided documentation does not contain instructions or details for creating an 18 ball autonomous or designing a gate cycling robot for the DECODE season.

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Pedro Pathing > Example Auto

Pedro Pathing·No licence published — summarised, never reproduced

Summarised above in Sharp AI’s own words. The original text is not reproduced here — open the source to read it.

Open Pedro Pathing

Pedro Pathing > Example Auto

Pedro Pathing·No licence published — summarised, never reproduced

Summarised above in Sharp AI’s own words. The original text is not reproduced here — open the source to read it.

Open Pedro Pathing

Pedro Pathing > Example Auto

Pedro Pathing·No licence published — summarised, never reproduced

Summarised above in Sharp AI’s own words. The original text is not reproduced here — open the source to read it.

Open Pedro Pathing

Pedro Pathing > Example Auto

Pedro Pathing·No licence published — summarised, never reproduced

Summarised above in Sharp AI’s own words. The original text is not reproduced here — open the source to read it.

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Pedro Pathing > Introduction

Pedro Pathing·No licence published — summarised, never reproduced

Summarised above in Sharp AI’s own words. The original text is not reproduced here — open the source to read it.

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Design Strategy > Competition Tips and Mistakes > Fully driver-controlled driving Partially automated tasks

Game Manual 0·CC BY-NC 4.0

Important: Autonomous should not be limited to only the autonomous mode. Automating simple tasks can be a real time-saver and efficiency boost to teams.

#. Automating tasks can save time and reduce the need for driver multi-tasking. Drivers should always be controlling the robot with as few button presses as possible. For example, automatically stopping the intake mechanism when game elements have been collected saves a button press. #. Autonomously operating some mechanisms has the advantage of eliminating driver error and relieves stress. For example, if a lift has to extend to exactly 30 inches, a motor with an encoder can complete that with 100% accuracy at full speed, compared to a human driver's minor error.

Note: Autonomous functions should be able to be overridden by manual input in case something goes wrong (e.g. encoder is unplugged, a part breaks, etc.) to prevent damage to the robot and to be compliant with game rules.

Open Game Manual 0

Creating and Running an Op Mode OBJ > What's an Op Mode?

FTC Docs·BSD 3-Clause

During a typical FIRST Tech Challenge match, a team's robot must perform a variety of tasks to score points. For example, a team might want their robot to follow a white line on the competition floor and then score a game element into a goal autonomously during a match. Teams write programs called OpModes (which stands for "operational modes") to specify the behavior for their robot. These OpModes run on the Robot Controller phone after being selected on the DRIVER STATION device.

Teams who are participating in the FIRST Tech Challenge have a variety of programming tools that they can use to create their own OpModes. This document explains how to use the OnBot Java Programming Tool to write an op mode for a robot.

Open FTC Docs

Control System Introduction > What’s an OpMode?

FTC Docs·BSD 3-Clause

During a typical FIRST Tech Challenge match, a team’s robot has to perform a variety of tasks in an effort to score points. For example, a team might want their robot to follow a white line on the competition floor and then score a game element (such as a ball) into a goal autonomously during a match. Teams write “OpModes” (which stand for “operational modes”) to specify the behavior for their robot.

An OpMode is a computer program that is used to customize the behavior of a competition robot. The Robot Controller can execute a selected OpMode to perform certain tasks during a match.

Teams who are participating in FIRST Tech Challenge have a variety of programming tools that they can use to create their own OpMode. Teams can use a visual (“drag and drop”) programming tool called the Blocks Programming Tool to create their op modes. Teams can also use a text-based Java tool known as the OnBot Java Programming Tool or Google’s Android Studio integrated development environment (also known as an “IDE”) to create their OpModes.

Open FTC Docs

Creating Op Modes Blocks

FTC Docs·BSD 3-Clause

During a typical FIRST Tech Challenge match, a team's robot must perform a variety of tasks to score points. For example, a team might want their robot to follow a white line on the competition floor and then score a game element into a goal autonomously during a match. Teams write programs called op modes (which stands for "operational modes") to specify the behavior for their robot. These op modes run on the Robot Controller after being selected on the DRIVER STATION.

Teams who are participating in the FIRST Tech Challenge have a variety of programming tools that they can use to create their own op modes. This section of the wiki explains how to use the Blocks Programming Tool to write an op mode for a robot.

Open FTC Docs

Finite State Machines > Implementation > Useful Implementation

Game Manual 0·CC BY-NC 4.0

FSMs are the right tool to use when a robot needs to complete multiple tasks at once; a common example of this is when a robot should have automation in teleop, but still have control over the drivetrain.

Often times, teams have issues because their teleop executes in a loop and their servo logic has sleeps in it. But, we can avoid this if we write code in an asynchronous fashion - where instead of waiting for a task to complete before doing the next one, tasks are performed at the same time, and each task's state is checked without stopping the other tasks from executing.

An example of this would be that if one had a robot similar to Gluten Free's Rover Ruckus Robot (https://www.youtube.com/watch?v=NQvhvYJXVMA), and one wanted to automate the scoring lift so that the drivers don't have to think while the bot deposits the minerals. There are two parts of the bot that are relevant to us in this exercise: the angled scoring lift, and the servo that tips the dumper so the minerals fall out. The goal is to be able to push a button, and then the bot will:

extend the lift,
at full lift extension, angle the mineral bucket servo to deposit the minerals,
wait for the minerals to fall out,
reset the servo to the original position
retract the lift

If the drivers press a specific other button, we will stop executing the actions above as a failsafe - in case the robot is breaking somehow and the drivers need to take manual control. All the while, the drivers should still be able to control our drivetrain so we can make adjustments. Now, of course, this is a bit simplified (and probably not entirely what GF did), but it will do for now.

Before anything is programmed, it may be useful draw out the state diagram for this to get a better understanding of what we the robot should actually be doing. This can also add to a Control Award submission.

Notice how resetting the dump servo and retracting the lift share a state. That's because the robot doesn't need to wait for the servo to reset before moving the lift down; they can both happen at once.

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Pedro Pathing > PedroPathing vs Roadrunner

Pedro Pathing·No licence published — summarised, never reproduced

Summarised above in Sharp AI’s own words. The original text is not reproduced here — open the source to read it.

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Pedro Pathing > Path Builder

Pedro Pathing·No licence published — summarised, never reproduced

Summarised above in Sharp AI’s own words. The original text is not reproduced here — open the source to read it.

Open Pedro Pathing

Design Strategy > General Design Tips and Mistakes > Score-first Designing Designing for Consistency

Game Manual 0·CC BY-NC 4.0

Important: Teams should prioritize consistency over scoring ability.

The tortoise beats the rabbit. An overused parable, but it still holds a kernel of truth. Why? Because the tortoise, which plodded along consistently, beat the rabbit, which had hot and cold streaks.

A hallmark of any successful team is consistency and reliability throughout the competition season and even across seasons. Sports dynasties are dynasties for the reason that they compete at a high level not for a couple games, but for multiple seasons. Without the power of consistency, it will be nearly impossible to win games, let alone a tournament.

Too many teams fall into the pit of prioritizing scoring ability more than anything else, which is a grave error. In keeping with the first tip, to perfect one objective first, this practice will serve to increase consistency.

Important: While scoring ability should be a priority and objective when designing mechanisms, it is not everything in this game. We advise being consistent at low and medium scoring levels than inconsistently scoring at a high level.

Focus on being able to do that one thing every single time throughout your matches, and you will begin to see how important consistency is. This tip is equally as important during alliance selections. Top teams will prioritize teams that are consistent far more than scoring ability. They are not afraid to look at teams who can't score much, but can contribute every time to the alliance score, rather than selecting a boom-or-bust pick.

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FTC SDK API > org.firstinspires.ftc.robotcore.external > StateMachine

FTC SDK API·BSD 3-Clause

Infrastructure for a very simple generic state machine. Part of a collection of classes including State, Event, and StateTransition. All this class does is manage a directed graph and execute transitions on events. Create instances of a state machine by deriving from this class and defining states, events, and transitions. See usages of StateMachine for reference implementations.

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Finite State Machines > Implementation > Useful Implementation

Game Manual 0·CC BY-NC 4.0

Now, let's get into actually implementing the code for this. In a traditional OpMode, which is commonly used for teleop, code runs repeatedly in a loop() function, so instead of waiting for a state transition to happen directly, the code will repeatedly check on each loop() call if it should perform a state transition. This kind of "update our state" pattern keeps code from blocking the rest of the loop() code from running, such as the drivetrain.

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Design Strategy > Competition Tips and Mistakes > No game strategy Strategic driving

Game Manual 0·CC BY-NC 4.0

Similar to drive practice, this is something that many inexperienced teams ignore. A sports example is handy - even with the most talented players, a team won't go far without good game strategy.

Important: A less capable team with better strategy execution can often pull off an upset. Planning a strategy ensures that every second in the 2:30 game time is used to maximum efficiency, which yields maximum points.

For example, drivers should know exactly where the robot needs to be positioned after the autonomous to tele-op switch. Practicing this switch will save a couple of seconds when drivers have to think "what do I do now?" In very competitive matches, these few seconds may be able to gain your team an extra cycle. Knowing when to transition from a tele-op to endgame objective is equally important (hint: perfect one first) and will save valuable time. Strategy should always be used to maximize points - whether this is a positioning strategy to access the game elements, or a defensive strategy to hinder the other alliance from scoring.

Tip: In most seasons, denying the other alliance 10 points is the same value as scoring 10 points in every match.

However, it is not advisable for rookie teams to play defense due to the specific rules surrounding this strategy. If a team wishes to execute a defensive strategy, be sure to read all the rules as defense can easily incur penalties/cards if done improperly.

Term: Defense — Defense is a strategy employed with the goal of preventing the opposing alliance from scoring points, or at least significantly slowing the opposition's scoring.

This strategy can backfire if drivers illegally play defense and incur penalties and/or cards for their alliance. Defense is usually played by obstructing the opposing alliance, either by strategically positioning the robot to obstruct access or pushing another team's robot into a disadvantageous position.

Open Game Manual 0