Working on Autonomous

Tags: software and control
Personhours: 5
Working on Autonomous By Tycho

Task: Create a temporary autonomous for the bot

We attempted to create an autonomous for our first scrimmage. It aimed to make the robot to drive forward and drive into the safe zone. However, we forgot to align the robot and it failed at the scrimmage.

+ public void autonomous2 (){
+
+ switch(autoState){
+ case 0: //moves the robot forward .5 meters
+ if (robot.driveStrafe(false, .60, .35)) {
+
+ robot.resetMotors(true);
+ autoState++;
+ }
+ break;
+ case 1: //scan jewels and decide which one to hit
+ if (robot.driveForward(false, .25, .35)) {
+ autoTimer = futureTime(1f);
+ robot.resetMotors(true);
+ autoState++;
+ }
+
+ break;
+ case 2: //short move to knock off jewel
+
+ robot.glyphSystem.ToggleGrip();
+ autoTimer = futureTime(1f);
+
+ robot.resetMotors(true);
+ autoState++;
+ break;
+ case 3: //back off of the balance stone
+ if (robot.driveForward(true, .10, .35)) {
+ autoTimer = futureTime(3f);
+ robot.resetMotors(true);
+ autoState++;
+ }
+ break;
+ case 4: //re-orient the robot
+ autoState++;
+ break;
+ case 5: //drive to proper crypto box column based on vuforia target
+ autoState++;
+ break;
+ case 6: // turn towards crypto box
+ autoState++;
+ break;
+ case 7: //drive to crypto box
+ autoState++;
+ break;
+ case 8: //deposit glyph
+ autoState++;
+ break;
+ case 9: //back away from crypto box
+ autoState++;
+ break;
+ }
+ }
+

Written on October 29, 2017