Autonomous Planning

Autonomous will have multiple variations, the with the simplest being primary and then others being labeled sequentially onwards.

1) Primary

A) Goal

The robot will be able to break one of the defenses. It will be able to stop past the defense, line up with the goal, and fire.

B) Steps

The robot will start with a ball already in it. It will drive across and damage the low bar from a position in front of it, and stop in the courtyard beyond the defense. Using vision processing or some other method of telling its position relative to the tower, it will line up with the left upper goal. Then the robot will shoot and score the ball.

C) Commands Used

• DriveForward to the defense
• DriveOver the defense
• DriveStop in the courtyard
• DriveTo a distance from the wall using Range finders
• VisionProcessing to find and line up with the high goal
• Shoot to fire the ball.