RC09BallSense

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Ball Sensor

  • The ball sensor must not fail. Its operation is deemed critical to the ability of the robots to function in a proper offensive gameplay environment.
    • Can we determine if a ball sensor is working, so we can avoid assigning robots with bad sensors to ball handling roles?

Detection

  • The ball sensor should be tripped when we have control of the ball. This means that the ball is/has touched the roller and has been given spin.
  • Control means that we can expect to do certain things predictably with the ball.

Kicking

  • Kicking is always one-touch. When a non-zero kick strength is sent the robot will kick iff a ball is present.
  • If a ball sensor failure is detected, one-touch is turned off and the robot kicks whenever a non-zero kick strength is sent.
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