Autonomous Requirements

• 13 Autonomous Patterns
  • Switch (6)
    • Starting Left -> Destination Left
    • Starting Left -> Destination Right
    • Starting Center -> Destination Left
    • Starting Center -> Destination Right
    • Starting Right -> Destination Left
    • Starting Right -> Destination Right
  • Scale (6)
    • Starting Left -> Destination Left
    • Starting Left -> Destination Right
    • Starting Center -> Destination Left
    • Starting Center -> Destination Right
    • Starting Right -> Destination Left
    • Starting Right -> Destination Right
  • Other (1)
    • Drive Forward to Cross Line
• Uses ultrasonic sensors to detect the distance from the scale (relative to back wall) to prevent a penalty from contacting the scale in the autonomous period
• Gears are automatically set to low mode
• Tresholds
  • Can turn to set angles with an accuracy of at least 1.5o
    • Duration: less than a second
  • Can drive set distances with an accuracy of at least 2”
    • Duration: dependent on distance
• Methods of Input
  • Initial Parameters from SmartDashboard
    • Initial Postion
      • Left, Center, or Right
    • Target
      • Cross the Line, Place Block on Switch, Place Block on Scale
    • Delay
      • For Collision Prevention
  • Game Message
    • Will Give Destination Side