We hard-coded a delay of 3 seconds to allow us to load the balls. The bot then navigates to the top-left corner of the board in preparation to shoot at the opponent’s Casterly Rock tower. We chose Casterly Rock because it was the fastest target to shoot down -- it was out of the way of the walls, and easy to navigate to. We positioned our shooter such that we could consistently shoot down Casterly Rock, as long as we were squeezed into the top left corner.
Once it reaches the top left corner, the bot stops all its wheel motors and starts the motor for the flywheel. The servo is opened to allow balls to roll into the flywheel. The flywheel runs for 5 seconds, after which the motors stop and servo is closed. After shooting at Casterly Rock, we navigate back to the armory to reload,as seen in the following image. We attempt to shoot at Casterly Rock a total of two times, before moving on to our next target. |