This was our best skills run. While our state skills score was unfortunately not this high, at least we got it in at the comp just before states 
Feel free to ask any questions if you got em.
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How did you go about programming that skills run? It looked like it was a driver driving the bot.
I generally drive my skills run before I program it, just to see what’s effective. We have the Starstruck field in my house so I spent a solid 3 days programming the skills run alone. Best way to go about it is just run straight at it I guess 
Do you not have to use preload before the match?
No you do, you can’t see the load in programming skills because I am in the way of the shot. The robot leaves it behind and picks it up along with the first loaded star and cube.
6430 just seems to be getting better each year.
I am really impressed!
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Thank you so much! How are your teams doing this year? They have been crazy good every year I’ve seen them!
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Did you use gyroscopes for those turns in autonomous? If so, did you do anything special in the code to make such precise turns?
What sensors are you using and where?
Very impressive runs. I am also curious as to which sensors you are using for the programming skills navigation. That was very good.
This was the first year I used a gyro sensor, and I’m kicking myself for never using it before. I didn’t do anything fancy with the turning itself, but I did run some algorithms to keep the robot on track, allowing me to be a bit more sloppy and move quicker.
Sensors:
Arm potentiometer
Claw potentiometer
Left and Right Drive OPE’s
Gyro
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How were you able to have the robot wrap around the pole when you were trying to hang?
The only thing we have holding the robot to the pole is a hook mounted to the claw.
so what is that thing that wraps around the pole?
Probably a tension release
It helps guide into the pole as well.
Haha you must be getting berated with loads of questions, but did you end up using the SensorScale command for the gyro? I have to say very impressive programming on that skills run.
How does your drive not stall when you’re basically using every motor on the robot when you do preloads and back
Up while lifting your arm? Our team is doing a similar routine however when we back up and lift at the same time while using the claw we tend to stall the drive or at least one of the motors. Any advice or help would be appreciated
On my robot, a power expander fixed that problem for me.
We did not use SensorScale. To tell you the truth I don’t really use many of the RobotC commands. I like to have complete control with it so all the variables, tasks, and commands are kinda customized.
Definitely add a power expander. Also, be careful in your wiring, you need to spread the load evenly among the PTC’s.
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