I am trying to find a way to have “Zones” For Flywheel Velocity. I am guessing this would use the gps sensor, or something like that. I am just not sure if it is possible in normal matches, because they normally do not have the gps sheets. The point would be to automatically change the flywheel speed based on the “Zone” it is in. for example, blue 1 would be 300 rpm, while blue 7 would be 600. It would gradually get bigger as the number gets bigger.
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I would like to clarify what I am trying to do. I would like to have a button that automatically changes the rpm of the flywheel, and then aims at the goal, in the way that will make it go in the goal. I know this is going to be much harder, so that is what I wanted to do.
Perhaps you could find the distance your robot is away from the goal, and use that to find the ideal flywheel velocity (via kinematics). A lot of FRC teams (such as Orbit, 254, etc.) did this last season, I would recommend checking out their “Behind The Bumpers” videos.
Even though gps strips aren’t available odometry is a decent alternative. Instead of zones, my team is planning on testing what distance correlates to what speed and then plotting the points on a graph. After that, we’ll find a best fit line.
I’m not sure that this is going to work as well as it sounds. GPS strips aren’t always available, and odometry has drift and I’m not sure if the drift is small enough to even calculate correctly.
You might start with testing your hypothetical zones with your build. Shoot from each zone and note the motor velocity (or rotational velocity if you have a sensor on your flywheel system.) You may find that your zone 1 cannot be reached due to launch angle, zones 2 and 3 can use the same velocity, zones 4 and 5 can share another velocity, and zones 6 and 7 are so difficult to get on target that you should avoid shooting from that distance.
Basically, collect data to see if you can simplify the problem.
We have done this this season and it has worked very well. It gives us an advantage because we can shoot cross field and always have the right velocity, meaning we can play defense and offense without moving across the field. Also, while you’re at it, if you are tracking position, you can also implement an auto aim button. As a first year, inexperienced driver, this is very clutch.
Another consideration is if the field was sprayed with antistatic or not. We had something like lo, med, and hi flywheel speeds but sprayed field messed us up. Got to test your presets on the field before the competition.
