The Final Competition was on April 8 and was located in the lower gym of the RPAC. Due to motor failure, the team did not do as well as expected.
Preparation
In between the Individual and Final, the main changes were made in regards to the core sample. Through code changes and RPS checks, by the end of the week between the two competitions, the robot could approach and obtain the core sample with some level of consistency. Additionally, a list of pre-run checks was created to maintain consistency.
Test run
The first time the robot got on the course on April 8th, there was an issue with the satellite turn function. Since that was the first part of the strategy, the team had to flip the kill switch and reassess. After a few code recommendations, the team felt well-prepared for Round Robin.
Round Robin
The first run of round robin was the best run of the competition. The only issue was a small heading issue, so the lever was not toggled. All other goals–the antenna, the button, and the core, were successfully carried out. The team returned to the code and adjusted the heading angle slightly.
However, in between round robin round 1 and round 2, an issue with the motor developed. The motor was a new purchase; the old one had failed just two days before, so the team did not foresee its breaking and did not have an extra motor to replace it with. Something inside the motor was catching, causing the robot to no longer drive straight. The second round, everything was obtained except the core sample and the lever.
The issue continued to persist through round 3, where the robot was driving so poorly that the kill switch had to be pulled almost as soon as the opening light came on.
Head-to-Head
To try to adjust for this slow breaking, team members attempted to adjust motor percentages to anticipate gears catching and wheels no longer turning at the same rate. The testing process was slow going, but ultimately successful as the robot began to drive straight.
However, as soon as it started its first run in head-to-head, the same motor displayed a different issue, in which it seemed to be stuttering. It drove straight this time, but the timing navigation was no longer functional as a result. G6 did not make it past the first round, and ended the robot journey with a head to head score of 20/100.
Here is a score break down for every run in the final competition: