Currently, my team has an ordinary tray bot (not DR4B but a 4 bar lift) and I want to find the best route for the autonomous period. I looked on youtube to see any practice or match videos of teams doing this autonomous, but all I find is DR4B stacker bots. The goal is obviously to not have a cube pass the auto line and get disqualified. The issue that I have at the moment is that our robot does not have the capability of intaking the 4 high stack into our tray reliably, and usually knocks the pre-placed stack over the autonomous line, which is a dq. I currently see only a 3 cube stack maximum(preload + 2 cubes that start near/in the taped-in alliance zone or Large Goal Zone). Are there any other routes that can obtain more cubes in a reasonable amount of time that is within the 15s and within the archetype of my robot?
…The easiest thing you can do is form a “T” where you go forward, turn 90 degrees, pick up the cube, turn 180 degrees, and intake the fourth cube by stacking. I had that auton at a recent tournament, and it was the best auton for the large zone.
Otherwise, you are just going to have to get creative and come up with different ideas. I can think of a couple, but I wouldn’t recommend them based on the way you describe your robot.
Yeah, but he said he doesn’t have a DR4B tray…
Yeah but still a four bar lift, that’s enough to intake a 4 cube stack. Even if the tray isn’t on the lift, it’s still possible to ram the stack in such a way that it will fall into your tray. This would actually be faster than what they did in the video.
True, although we’ll have to continue with further testing so that this strategy of ramming into the stack is reliable and doesn’t tip the cubes over the auton-line as much.
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