FTC 8644 Brainstormers Robot Reveal Relic Recovery 2017-2018

FTC Team 8644 The Brainstormers Robot Reveal Video
Featuring
Autonomous Cube Alignment
5 Glyph Autonomous
Fast Relic with Auto-Distance and Auto-Align grabber
Auto Correction of 45-Degree Glyphs
583 Solo Score (Double Cipher Double Relic and 5 Glyph Auto)

See    • FTC Relic Recovery: Cipher and Relic ...   for an early-season version of this robot

When we learned that we would be in the opposite Worlds division from our friends in NH, we knew we had to get 5-glyph auto working somewhat reliably, and hope that they only get 4 glyphs sometimes instead of their max of 6:

After David got the 3 omni-wheel e4t encoders installed, August and Mark finished the position-tracking software.
David then spent his entire April break writing entirely new and much more accurate autonomous functions for turn, drive-to-xy-position, and collection, along with many fallback algorithms to detect and handle some of the encoders failing.
We also switched to driving forward/backward off the balancing stone instead of strafing: we lost OpenCV glyph detection and judging points, but gained much more accurate and fast encoder-only cryptobox alignment.

After all that, making the 5-glyph autonomous work was much easier than all our previous attempts at multi-glyph auto.