Good Autonomous Plan

[kennethmitra]

Overview - We only have 30 sec

1. Start
2. Shoot Balls from starting position
3. Drive forward
4. Gypro turnn 90 deg
5. Forwards
6. Hit beacon w/ computer vision
7. Gyro turnn 180 deg
8. Hit other beacon
9. Ram into cap ball and park on center vortex base

Detailed Steps

1. Receive Start cmd
2. Begin shooter wheel spinup
3. Move turret to right angle
4. Check shooter wheel rpm - if at right velocity, proceed
5. Shoot Balls from starting position
6. Drive forward using encoders
7. Execute Gyro turn 90 deg left to face Beacon
8. Use computer vision to determine which side to press
9. Gyro turn 90 deg right/left to align to correct beacon side
10. Drive slightly forwards
11. Gyro turn 90 deg to face beacon again
12. Drive forwards to press beacon
13. Gyro turn 180 deg
14. Repeat steps to hit other beacon
    15.Gyro turn 90 deg left
    16 Drive forwards
    17 Gyro turn left to face Center vortex base
15. Drive Forwards onto center vortex base, pushing cap ball off in the process
16. Win

[freezone2000]

technically #10 would cause #9, but i get what you mean.