HOOD-03: Hood follows the shot table, and the hood trim

medium prioritySimulator or real robotabout 40 minHood

• Your robot needs: Flywheel shooter, and Hood on a servo or Hood on a motor with an encoder.
• 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: Lesson 9: A shooter, a camera and a turret (for robots that shoot), Finding your numbers (the finders).

Why

With a hood, each table row has a third number: the hood. The launcher blends it between rows like the speed. The operator's left stick adds a hood trim. INIT must stop on a row outside the hood's stops.

Safety

• Safety glasses if you fire. The hood moves at START (to startAngle).

Setup

• HOOD-01 or HOOD-02 done. A table with three numbers per row, {inches, rpm, hood}.
• Speed from distance (camera or odometry).
• Simulator: your robot from Robot.java (:sim:fromRobot writes the hood), or turretbot from lesson 9.

Steps

1. INIT, START. Drive to a distance halfway between two rows. Read Hood: ... (table): it should be halfway between the two rows' hood numbers.
2. Gamepad 2 left stick up for a moment: Hood: ... (table, trim +...).
3. Double-tap D-pad down: both trims (speed and hood) go back to 0.
4. Shot Tuner: Y until > Hood, change the hood with the D-pad, fire, mark HIT/MISS, X saves the speed and hood together.
5. Put a row with a hood number past a stop in Tunables.java. INIT: it must stop with a message naming the row.

Pass rule

In step 1 the hood is within 1 degree (or 0.01 servo position) of halfway, step 3 clears both trims, and step 5 stops INIT (1 of 1) with the row's distance in the message.

Record

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

• the two rows and the hood value shown in step 1
• the trim step size you saw (degrees per moment of stick)
• the INIT message in step 5
• in the simulator: did the shot angle change with the hood?

If your robot is different

Without angleA, angleB the hood works in servo positions (or ticks): the table's third number is a position then. Say which you use. A linkage with a calibration table is a good extra test.

Report your result

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