5. Autonomous in 2018 game

Autonomous Period:

Robots operate independently following pre-programmed instructions for the first fifteen seconds of the match.

Alliances score points by:

• Reaching their own autonomous line

• Gaining ownership of the scale or their switch

More information, including competition rules and game information, can be found on FIRST FRC website.

https://www.firstinspires.org/resource-library/frc/competition-manual-qa-system

Prior to the start of AUTO, the assignments of ALLIANCE colors for SWITCH and SCALE PLATES are randomized among the four states in Figure 4-1 and transmitted to the OPERATOR CONSOLE by the Field Management System (FMS).

Field Management System (FMS)

Read the following about how FMS works.

https://wpilib.screenstepslive.com/s/currentCS/m/getting_started/l/826278-2018-game-data-details

When the match begins, the FMS will send a string to DriverStation. We will need to use the string and determine which direction that the robot will go.

One example you would get would be "LRL" or "RRR".

String gameData;

    gameData = DriverStation.getInstance().getGameSpecificMessage();

    if(gameData.charAt(0) == 'L')

    {

      //Put left auto code here

    } else {

      //Put right auto code here

    }

Assignment:

• (This is not actually what we will be using. Just a practice.)
• Copy the code above. Add the following functions:
  • There is a box preloaded on the robot. Grab the box and raise the arm. Keep raising for the duration, else it will fall back down.
  • Drive forward for 2 seconds
  • Then turn left if the SWITCH is on the left, or right if it is on the right.
  • Drive forward 1 second
  • Turn right or left (the opposite of above)
  • drive forward 2 seconds
  • Release the grabber. Box is dropped.
• (drive slow! Use 0.5 speed)
• (assume turning takes 1 second)
• (Because you might not have the Grabber and Arm classes, it's okay that you see errors for them not found)

Edited by Dexin on 12/9/2018