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.

Instead of talking about the code like usual, the code's main functions are well documented so that any person can understand its functions without a prior knowledge of coding. 

 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;
        }
    }

Date | October 29, 2017