Behind the Bumpers 1690 Orbit | Rapid React Robot 

Who's been watching bernardetcheverry7405 for a while now? ✋

Nice, did u do mechanical or electrical?

Yes we actually did. As part of the "cost" calculation for every shot, we added the max height of the trajectory of the ball. That's due to conservation of energy: The higher the ball gets, the more potential energy it has. When the ball gets to the target, all the potential energy is converted to kinetic energy, and the more energy the ball has when hitting the target, the more likely it will bounce out.

@@noamprag9393 how do you find the shot velocities that a wheel speed and hood angle will produce, do your the wheels slip on the ball?

@@olikat9774 The physics simulation solves the differential equation for the position of the ball, using Euler's method. The trajectory calculation takes into account the current state: velocity (a vector in the vertical plane), position, and spin, and yields the next state, in small steps. What defines a trajectory of a ball, is the initial state. The hood angle, combined with the speed of the shooter wheels, can be thought of as a vector in the vertical plane, which represents the initial velocity.

@@olikat9774 In regards to the slip on the ball, we don't compensate for it in the shooting simulation, but multiply by a factor in the robot code. This is due to the fact that the balls are inflated differently. Furthermore, this number increases between matches throughout the competition.

@@noamprag9393 Interesting, did you have to rework the math after adding a hood roller to account for reduced spin?

mentors i assume