LGT-02: The alliance on the light at INIT

medium prioritySimulator or real robotabout 15 minLights

• Your robot needs: Light (goBILDA RGB or REV Blinkin).
• 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), Lesson 9: A shooter, a camera and a turret (for robots that shoot).

Why

A wrong alliance pick in INIT makes the robot aim at the other alliance's goal all match. The drive team sees the light from the field, not the Driver Station's small text, so before START the light shows the alliance. We want to know it is easy to read on real lights, from the drive team's place.

Safety

• Nothing moves in this test until step 5. Then the usual: a clear floor and a hand on STOP.

Setup

• A light in Robot.java (Lights.gobilda("light") or Lights.blinkin("blinkin")), with no allianceAtInit line in its Tunables section.
• Your own rules in Controls.java (any, for example lesson 9 section 13's).
• Simulator: the light is a dot on the robot (V2 example robot, or your own robot from Robot.java).

Steps

1. Restart the robot app (so no alliance is remembered). INIT your TeleOp. Before you pick: the light blinks white once a second.
2. Press X on gamepad 1 (BLUE): solid blue. Press B (RED): solid red.
3. Stand where the drive team stands (about 6 ft away, from the side of the robot). Can you tell red from blue? From the front and the back?
4. START: a 1 s flash of the alliance, then your rules.
5. Run an autonomous on RED to its end, then INIT TeleOp: the light is red at once (TeleOp took the alliance from autonomous).
6. Write public static boolean allianceAtInit = false; in the light's Tunables section (named after its device, e.g. Tunables.Light). INIT: now your rules show in INIT, and no flash at START.

Pass rule

Each state shows the right colour (4 of 4: blinking white, blue, red, the flash at START), and two people can tell red from blue from 6 ft away.

Record

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

• light model, and where it sits on the robot
• whether red and blue were easy to tell apart, and from where
• any colour that looked wrong (and which allianceColors(...) fixed it, if you tried)
• what step 6 showed

If your robot is different

If your light shows red or blue badly, try robot.lights.allianceColors(LightColor.PURPLE, LightColor.ORANGE); in Controls.java (blue's colour first) and say whether it is better. A REV Blinkin with a strip of your own: say the strip and its length.

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

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