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Automation

Team 772 Robot

772 IntoTheDeep Season Robot Automation​

We use automation for many tasks on the robot to reduce stress on our driver and also make the robot a lot quicker when scoring. A well-tuned automation system can:

  • Removes stress from drivers - Drivers can focus on navigation and strategy
  • Minimizes errors from humans - Consistent, repeatable actions
  • Makes cycle times a lot quicker - Faster than manual control
  • The robot can drive and also perform these actions asynchronously - Multi-tasking capabilities

Sensors Used​

To achieve automation, we use two sensors:

Vision​

Vision systems allow the robot to identify and track game elements, targets, and field positions automatically.

Limit Switch​

Limit switches provide physical feedback when mechanisms reach specific positions, ensuring accurate positioning.

Code Implementation​

Code for the automation can be found below.

/**
 * Command to transfer a sample by moving the intake system to transfer position,
 * opening the outtake claw, and moving the outtake arm to transfer position.
 * This command is used in both teleop and auto modes to prepare the robot for sample transfer.
 */
class TransferSampleCommand(private val intakeSystem: IntakeSystem, private val outtakeSystem: OuttakeSystem, private val climbSystem: ClimbSystem): SequentialCommandGroup() {

    init {
        addCommands(
            InstantCommand({Log.i("CMDS", this.javaClass.name + "\n"+  intakeSystem.stateString() + "\n" + outtakeSystem.stateString())}),
            climbSystem.setTargetPosition(ClimbSystem.ClimbState.HOME),
            //intakeSystem.setClaw(IntakeSystem.IntakePosition.TARGET),
            outtakeSystem.clawOpen(),
            //outtakeSystem.moveArmToTransferPrep(),
            intakeSystem.moveToTransfer(),
            WaitCommand(200),
            outtakeSystem.moveArmToTransfer(),
            WaitUntilCommand{ outtakeSystem.getClawButtonState() }.withTimeout(400),
            outtakeSystem.clawClose(),
            WaitCommand(200),
            intakeSystem.setClaw(IntakeSystem.IntakePosition.HOME),
            outtakeSystem.moveArmToScore()
        )
    }

}

Benefits of Robot Automation​

Robot automation is crucial in competitive robotics because it:

  • Increases scoring efficiency
  • Reduces driver workload
  • Provides consistent performance under pressure
  • Allows for complex multi-step operations
  • Enables simultaneous driving and mechanism control