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The Reliable Striker

Top down view of the Hero Bot on the VIQRC Over Under Playground with a coordinate system overlayed onto the field. The center of the field is at (0, 0) and other coordinates for route planning are marked.
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Create an algorithm to navigate the Hero Bot to a position where it can pick up a Triball located at a specific position on the Field steadily. Use [Drive for] and [Turn for] blocks, the GPS Sensor, the Arm Motor, and the Intake Motor to drive the Hero Bot to the position located at (900,-900), then drive the Hero Bot to pick up each of the three highlighted Triballs, move to coordinate (600, 300), and score the Triball in Red Alliance Goal.

  • Select the VRC Virtual Skills - Over Under Playground.
  • Use the Pre-Match checklist to select Starting Location “H”, Starting Direction ”North”, and Robot Preload “No” for the robot.
  • Create an algorithm to navigate the robot to a specific position.
  • Create an algorithm to navigate the robot to a position where it can pick up a Triball located at a specific position on the Field.
  • Code the robot to spin the Arm Motor to fully lower the Arm for picking up a Triball on the Field.
  • Use the algorithm to navigate the robot to coordinates (900, -900).
  • Code the Hero Bot to pick up the highlighted Triball located at (-100,-600) and score it in Red Alliance Goal. 
    • Use the algorithm to drive the robot to a position where it can pick up the highlighted Triball located at (-100, -600).
    • Code the robot to spin the Intake Motor to pick up the Triball.
    • Navigate the robot to coordinates (600, 300) and turn the robot toward the Red Alliance Goal.
    • Code the robot to spin the Intake Motor to launch the Triball to the Red Alliance Goal.
  • Code the Hero Bot to pick up the highlighted Triball located at (-100, 0) and score it in the Red Alliance Goal.
  • Code the Hero Bot to pick up the highlighted Triball located at (-125, 600) and score it in the Red Alliance Goal. 

Helpful Hints

  • Keep all of the robot wheels contacting the gray tiles on the Field while picking up the Triball to ensure completing the task successfully.

  • To pick up a Triball located at coordinates (X2, Y2), we need to align the Triball with Striker’s Intake Mechanism, not to drive Striker to (X2, Y2). Thus, the driving distance is the distance between the Starting Point(X1, Y1) and Triball (X2, Y2) minus the distance between the Intake and Striker's center.

    Top down diagram of the robot's driving distance between a starting point (X1, Y1) and a Triball at (X2, Y2).

  • Use the set blocks from the Variables category and the Subtrack block from the Operators category to express the math expression to calculate the drive distance for picking up a Triball.

    VEXcode Set variable block containing a Subtract block and a Variable block, that all together reads 'set driveDistance to driveDistance - 300'.

    • Matching Python command:

      driveDistance = driveDistance - 300
  • To navigate the robot to a precise position, prevent the robot from driving ontoTriballs or bars on the Field, which could cause deviations from the target.

  • Use My Block from the My Blocks category to create a sequence of blocks that can be used multiple times throughout the project. My Blocks can have multiple parameters to add more functionality. It makes the project shorter and more easily readable.

    VEXcode My blocks Definition block that reads 'define driveForwardTo'. Two numerical parameters on the block are named X2 and Y2.

    • Matching Python command:

      def driveForwardTo(X2, Y2):

  • For help with using My Blocks in the project, please select the “TUTORIALS” button in VEXcode VR and choose the My Blocks Tutorial.

    Tutorials icon from the VEXcode VR toolbar.

    VEXcode VR My Blocks Tutorial icon.

For more information about using the GPS Sensor in the VRC Over Under Playground, please click here.

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