HOOD-01: Hood Finder on a servo hood - stops and angles

high priorityReal robotabout 30 minHood

• Your robot needs: Hood on a servo.
• Starter bots that fit: none (it needs parts the starter bots do not have).
• Library version: v0.17.0 or newer.
• The docs it tests: Finding your numbers (the finders), Lesson 9: A shooter, a camera and a turret (for robots that shoot).

Why

The hood's two stops (posA, posB) are hard limits: the hood never goes past them. The Hood Finder finds them without code. A servo pushing on a stop gets hot and breaks, so this must be clear and safe on hoods built differently from ours.

Safety

• Flywheel off. Fingers away from the hood while it moves.
• Listen for a humming servo: back off at once.

Setup

• .hood(Hood.servo("hood")) on the launcher in Robot.java (no Tunables.Hood numbers needed yet).
• The Hood Finder OpMode (recipe).
• A phone angle app (optional, for angles).

Steps

1. Start the Hood Finder. Choose a START POINT near where the hood sits (D-pad; nothing moves), press A.
2. Nudge toward one stop (D-pad right/left 0.01, up/down 0.05, hold RB for finer). Stop when it JUST touches, back off a hair, press X.
3. Do the same at the other stop, press B. The screen shows Tunables.Hood: posA = ..., posB = ....
4. Optional: lay the phone on the hood at each stop and type the angle (hold LB + D-pad) before X or B.
5. Copy the line(s) into Tunables.java. Time a stop-to-stop move for travelSec.
6. In your TeleOp: START sends the hood to startAngle (in Tunables.Hood). Gamepad 2 left stick moves it: push it hard both ways.

Pass rule

In step 6 the hood never touches a stop (0 hums or stalls in 10 pushes each way), and it stays between posA and posB.

Record

Write these down while you test. The report form has them as a list to fill in.

• hood design (servo, gears or linkage, range in degrees)
• the Tunables.Hood line it printed
• travelSec you measured
• anything that hummed, and when

If your robot is different

A linkage (equal servo steps do not make equal angles): add points in between with A to get a calibration line. A hood that goes the other way round is fine: say so. A CR-servo hood is not supported yet: report "could not run" and what you have.

Report your result

Pass, fail, or could not run: every result helps. The form opens on GitHub with this test filled in (a free GitHub account is needed). No student names, please.

Report result

No reports for this test yet: yours would be the first. Every test's reports.

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