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HOOD-02: Motor hood - stops by hand, and it arrives before firing

high priorityReal robotabout 30 minHood

Your robot needs: Hood on a motor with an encoder, and Flywheel shooter.
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), Robot module (the robot in five files).

Why

A motor hood knows where it is (its encoder), so the launcher waits until it arrives. Its ticks count from where it is at INIT, so the start position matters. We have not tested a motor hood on a robot yet.

Safety

Flywheel off for steps 1-4. Low maxPower (0.3) at first. Fingers away from the hood.
Hard stops on the hood at both ends.

Setup

.hood(Hood.motor("hood", "motor-id")) on the launcher.
The Hood Finder OpMode.

Steps

Put the hood on the stop you want as 0 ticks (stop A). Start the Hood Finder: nothing is powered.
Move the hood by hand to near stop A (a hair off), press X. To near stop B, press B.
Copy posA, posB (ticks) into Tunables.Hood. Set maxPower = 0.3.
In your TeleOp (hood on stop A at INIT): START. Move the hood with gamepad 2 left stick to each end. It must stop before each stop.
With a shot table that has a hood column, spin up and fire one at two distances: the launcher waits for hood until the hood arrives (Launcher waits for: hood).

Pass rule

The hood stops within 2% of its range before each stop (never stalls on a stop), and in step 5 no piece is fed while the hood is more than tolerance away (0 of 2).

Record

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

hood motor, gearing, range in ticks
the posA, posB you got, and kP, maxPower, tolerance you used
how long the hood took to arrive in step 5 (seconds)
what happened if the hood was NOT on stop A at INIT (try it once, carefully, at low power)

If your robot is different

A hood that is not near a stop at INIT will count from the wrong place: that is how it is built today. If your robot cannot start on a stop, tell us why: we may add homing.

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.

All tests · Next: ILK-02 Interlock stop distance - a fast part brakes before its zone

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