HOOD-04: Hood at START, and the stick with no goal in view

medium prioritySimulator or real robotabout 20 minHood

• Your robot needs: 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: Robot module (the robot in five files), Tunables.java: every number, part by part.

Why

At START the hood goes to its startAngle. While the shot table sets the angle, the operator's stick is a small trim; while no goal is seen (no distance yet), the same stick moves the hood itself, so the operator always sees the stick do something. A hood can also be part of an interlock rule. We want to know this is clear to drivers on robots with a servo hood and with a motor hood.

Safety

• The hood moves at START. Fingers away from it. Flywheel off for steps 1 to 4.
• Hard stops at both ends (posA, posB measured with the Hood Finder: HOOD-01 or HOOD-02).

Setup

• A hood with its Tunables.Hood numbers (posA, posB, optional angleA, angleB) and startAngle.
• A shot table with a hood column ({inches, rpm, hood}) and speed from the distance.
• Simulator: the V2 example robot (a servo hood, commands in ILK-01), or your robot from Robot.java.

Steps

1. INIT: the hood does not move, and the launcher's hood line says it goes to its start angle at START.
2. START: the hood goes to startAngle. Read the hood's line (named after its device, e.g. Hood : 0.0 deg (by hand), or (table) once a goal is seen).
3. With the goal out of view (camera covered, or the robot turned away): push gamepad 2 left stick up for 1 s. The hood itself moves (the angle changes, by hand), and stops at its stop.
4. Turn to the goal: the table takes over ((table)), and the same stick now adds a trim (table, trim +...).
5. Double-tap gamepad 2 D-pad down: the trim goes back to 0.
6. In your code, if you use the hood's methods: angle() is where it is now, targetAngle() where it is going, isAtTarget() whether it is there, goToStart() sends it to startAngle. Build: the old names (home(), homeAngle, isArrived()) must not be used anywhere.

Pass rule

At START the hood ends within 1 degree (or 0.01 servo position) of startAngle (1 of 1), in step 3 the stick moves the hood with no goal in view (1 of 1), and in step 4 the table sets it again.

Record

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

• servo or motor hood, and its range (degrees or positions)
• startAngle, and where the hood really ended at START
• the hood lines in steps 2, 3 and 4 (copy them)
• whether the drivers understood "by hand" vs "table"

If your robot is different

A hood with no angleA, angleB works in servo positions (or ticks): the numbers on the screen are positions then. If your hood and another part can hit, put it in an interlock rule (for example keepApart("HoodTurret", launcher.hood().zone(), turret.zone()); in Robot.java, see the interlocks guide) and also run ILK-01.

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.

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