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FTC Efficiency

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emoore25
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FTC Efficiency

Elijah Moore
September 2024

This is an exploration of the efficiency of each major scoring method during


tele-op. Efficiency is represented in the following terms:
P
E=
T
Where E is the efficiency of the scoring method in pts/sec, P is the point value
of completing the task, and T is the sum of the lengths of time required to
complete the sub-tasks that compose each scoring cycle.
The major scoring methods have been separated into Net Zone and Chamber
main tasks, referring to the location in which the sample/specimen must be
delivered in order to receive points. This has been done to acknowledge the
disparity in precision required within each group’s sub tasks. There are several
sub tasks universal between all main tasks, and are as follows: (l) traversal of
a single regulation tile (609.6 mm), (i) intake of a sample from beneath the
submersible into control of the robot, and (o) release of a sample from the
robot’s control. Note that both Net Zone and Chamber main tasks traverse
comparable distances, about four tiles each way.
The three Net Zone main tasks are as follows: (Nz ) Samples placed within
the net zone itself, but not within either of the net zone’s baskets, (N1 ) Samples
placed within the net zone’s lower basket, and (N2 ) Samples placed within the
net zone’s upper basket. The Net Zone main task specific sub tasks are as
follows: (y1 ) raising a sample to the height required to release into the net
zone’s lower basket (a minimum of 654.05 mm), and (y2 ) raising a sample from
the height required to release into the net zone’s lower basket to the height
required to release into the net zone’s upper basket (444.5 mm assuming the
same release method as the lower basket). The efficiency of the Net Zone main
tasks can be calculated with the following equations:
2
Nz =
8l + i + o
4
N1 =
8l + i + o + y1
8
N2 =
8l + i + o + y1 + y2

1
Although difficult to calculate the specific efficiencies of each Net Zone main
task without building a robot to measure sub task durations, it is possible to
deduce their relative efficiencies. The way in which this is achieved is by equat-
ing the two efficiencies and removing variables through algebraic manipulation,
resulting in the tipping point between the two main tasks being illustrated in
more easily interpreted terms.

Nz = N1
2 4
=
8l + i + o 8l + i + o + y1
16l + i + o = 8l + i + o + y1
8l = y1
From this simplification, we learn that when 8l is faster than y1 , it is more
efficient to complete Nz than it is to complete N1 , and vice-versa. We can repeat
this process for all combinations of Net Zone main tasks:

N1 = N2
4 8
=
8l + i + o + y1 8l + i + o + y1 + y2
16l + 2i + 2o + 2y1 = 8l + i + o + y1 + y2
8l + i + o + y1 = y2
N1 = y2

N2 = Nz
8 2
=
8l + i + o + y1 + y2 8l + i + o
8l + i + o + y1 + y2 = 32l + 4i + 4o
y1 + y2 = 24l + 3i + 3o
y1 + y2 = 3Nz
The two Chamber main tasks are as follows: (C1 ) Placing a Specimen on
the lower chamber, and (C2 ) placing a Specimen on the upper chamber. The
Chamber main task specific sub tasks are as follows: (is ) intake of an assembled
Specimen from the observation zone into the control of the robot, (os ) the release
of a Specimen from the robot’s control, (yl ) raising a Specimen to the height
required to place a Specimen on the lower chamber (a minimum of 330 mm),
and (yu ) raising a Specimen from the height required to place a Specimen on
the lower chamber to the height required to place a Specimen on the upper
chamber(330 mm assuming the same placement method as the lower chamber).

2
The efficiency of the Chamber main tasks can be calculated with the following
equations:
5
C1 =
8l + i + o + ic + oc + yl
10
C2 =
8l + i + o + ic + oc + yl + yu
It is important to note that these calculations assume the placement of a pre-
assembled Specimen in the observation zone before cycling of scoring tasks be-
gins. Otherwise, an additional 8l + i + o would have to be preformed. We can
then compare the relative efficiencies of each Chamber main task and find their
breaking points.

C1 = C2
5 10
=
8l + i + o + ic + oc + yl 8l + i + o + ic + oc + yl + yu
16l + 2i + 2o + 2ic + 2oc + 2yl = 8l + i + o + ic + oc + yl + yu
8l + i + o + ic + oc + yl = yu
Our team’s analysis of these results brought two scoring methods to the
forefront: N2 and C2 . Due to each one’s breaking point being dictated by the
extension of an already extending arm, as well as being the lowest distance
to travel, therefore reducing possible traffic situations, these are clearly (and
perhaps unsurprisingly) the most efficient Net and Chamber main tasks respec-
tively. To answer the real question and determine which is most efficient, we
must compare the two to each other. To simplify the comparison, y1 + y2 will
be represented by Yn and yl + yu by Yc .

N2 = C2
8 10
=
8l + i + o + Yn 8l + i + o + ic + oc + Yc
40l + 5i + o + 5Yn = 32l + 4i + 4o + 4ic + 4oc + 4Yc
8l + i + o + 5Yn = 4ic + 4oc + 4Yc
This is not a poor stopping point, however if we allow the assumption that
Yn = Yc due to the height differential impacting the design constraints more that
the time required, we can reduce even more, resulting in this final comparison:

8l + i + o + Yn = 4ic + 4oc

N2 = 4ic + 4oc

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