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Autonomous Actions  
= Autonomous Actions =


We split it up into three stages.<br>1. Approach the pegs.<br>2. Put Ubertube on pegs.<br>3. Ending action.<br>
We split it up into three stages:


Approach pegs  
#Starting Positions and Actions (Approach the pegs) with Peg Height (Put Ubertube on pegs)
#Ending action
#End Autonomous


<br>
<br>


Strategy 0:<br>1.) Do nothing<br>1.5) Stop all internal motors<br>1.5.5) Stop everything<br>2.) Wait for Teleoperated mode<br>3.) Go to -&gt; Teleoperated mode
To tell the robot which set of actions to perform you select an autonomous mode using the classmate or a paper handbook, which tells you three numbers that you plug in using a keypad on the driver’s station. The robot understands and runs based on the numbers. (Example 000 tells the robot to do nothing during autonomous).  


<br>
=== '''Start Positions and Actions'''<br> ===


<br>Strategy 1<br>Straight line (left side)
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
| width="150" | '''Start Positions and Actions:'''
| width="880" colspan="4" | 0 Do nothing
|-
| width="150" | '''Peg Height:'''
| width="130" | 0 Do Nothing
| width="250" | 1 Top Peg (Normal Height)
| width="250" | 2 Middle peg (Normal Height)
| width="250" | 3 Low peg (Normal Height)
|-
| <br>
| <br>
| width="880" colspan="3" | <br>
|-
| <br>  
| <br>
| align="left" width="250" valign="top" | <br>
| align="left" width="250" valign="top" | <br>  
| align="left" width="250" valign="top" | <br>
|-
| <br>
| width="880" colspan="4" |
*Go to -&gt; End Autonomous


1.) Drive Forward 244.9 inches on line
|}


1.5.) Raise arm upward as driving to position for middle peg<br>
<br>  


2.) If all done....
<br>


2.5) go to -&gt; Place ubertube
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
| width="150" | '''Start Positions and Actions:'''
| width="880" colspan="4" | 1 Follow straight line (Left side) and<br>2 Follow straight line (Right side)
|-
| width="150" | '''Peg Height:'''
| width="130" | 0 Do Nothing
| width="250" | 1 Top Peg (Offset Height)
| width="250" | 2 Middle peg (Offset Height)  
| width="250" | 3 Low peg (Offset Height)
|-
| <br>
| <br>
| width="880" colspan="3" |
*Drive Forward 219? inches on line [be far enough away from pegs to move arm without hitting pegs]
*While driving: Move arm to middle peg position [do not twist tube]


<br>
|-
| <br>  
| <br>
| align="left" width="250" valign="top" |
*Have manip. twist tube to '''top''' peg angle
*Move arm to '''top''' peg
*Drive Forward '''30?''' inches


<br>Strategy 2<br>Straight line (right side)
| align="left" width="250" valign="top" |
*Have manip. twist tube to '''middle''' peg angle
*'''arm doesn't move'''
*Drive Forward '''24?''' inches


1.) Drive Forward 244.9 inches on line
| align="left" width="250" valign="top" |
*Have manip. twist tube to '''low''' peg angle
*Move arm to '''low''' peg
*Drive forward '''28?''' inches


1.5.) Raise arm upward as driving to position for middle peg<br>
|-
| <br>  
| <br>
| width="880" colspan="3" |
*Eject tube
*Back up same amount we drove forward


2.) If all done....
|-
| <br>
|
*Go to -&gt; End Autonomous


2.5) go to -&gt; Place ubertube
| width="880" colspan="3" |
*Go to -&gt; Ending Action


<br>
|}


<br>Strategy 3<br>Center line (left fork)
<br>  


1.)Go foward to fork (while raising arm to 90deg. and turning tube via manip. so as it is parallel to ground);
<br>


2.)At fork, stop at fork
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
| width="150" | '''Start Positions and Actions:'''
| width="880" colspan="4" | 3 Follow center line (Left fork) and<br>4 Follow center line (Right fork)
|-
| width="150" | '''Peg Height:'''
| width="130" | 0 Do Nothing
| width="250" | 1 Top Peg (Normal Height)
| width="250" | 2 Middle peg (Normal Height)
| width="250" | 3 Low peg (Normal Height)
|-
| <br>
| <br>
| width="880" colspan="3" |
*Go foward to fork (while raising arm to middle peg offset.)  
*drive slightly more (to no longer see line, half the robot distance so we can turn correctly(19? inches))
*Turn left/right until line is visible.


3.)drive slightly more (to no longer see line, half the robot distance so we can turn correctly)  
|-
| <br>
| <br>
| align="left" width="250" valign="top" |
*Tell Manip to angle tube to top peg positon
*Raise arm to top peg height
*Drive forward (while following line) 60? inches
*Turn 28?/-28? degrees
*Go forward 24? inches


4.)Turn until line is visible.;
| align="left" width="250" valign="top" |
*Tell Manip. to angle tube to middle peg positon.
*Raise arm to middle peg height
*Drive forward (while following line) 60? inches
*Turn 30?/-30? degrees
*Go forward 36? inches


5.)drive forward (while following line);
| align="left" width="250" valign="top" |
*Tell manipulator to angle tube to low peg position.  
*Raise arm to low peg height
*Drive forward (while following line) 60? inches
*Turn 29?/-29? degrees
*Go forward 34? inches


6.)stop and turn to line up with pegs;
|-
| <br>
| <br>
| width="880" colspan="3" |
*Eject tube
*Back up (Same distance as last drive forward)  
*align robot so it is parallel to the line and same distance from wall as Straight Line and Dead Reckoning
**if right fork: turn -(60 + same angle as last turn) degrees
**if left fork: turn -(-60 + same angle as last turn) degrees
**Drive Backwards (16 + 45 - same distance as last drove backward) inches [note: 45 is the amount from the front of the peg]


7.)go to -&gt;place ubertube;
|-
| <br>
|
*Go to -&gt; End Autonomous


(Possible to back up, and repeats five and six after step six to line up correctly)<br>
| width="880" colspan="3" |
*Go to -&gt; Ending Action


<br>Strategy 4<br>Center line (right fork)
|}
 
1.)Go foward to fork (while raising arm to 90deg. and turning tube via manip. so as it is parallel to ground);
 
2.)At fork, stop at fork
 
3.)drive slightly more (to no longer see line, half the robot distance so we can turn correctly)
 
4.)Turn until line is visible.;<br>
 
6.)stop and turn to line up with pegs;<br>
 
7.)go to -&gt;place ubertube;
 
(Possible to back up, and repeats five and six after step six to line up correctly)
 
<br>
 
<br>
 
Strategy 5<br>Dead Reckoning (Striaght line)
 
1.) Drive Forward 244.9 inches
 
1.5.) Raise arm to middle peg position
 
1.5.5)Turn manipulator belts to positon tube for placement
 
2.) Go to -&gt; Ubertube Placement
 
<br>
 
<br>Strategy 6<br>Dead Reckoning (Center Line Left fork)
 
1.) Drive Forward 157.3 inches
 
1.5.) Raise arm to middle peg position<br>
 
2.) Turn 35deg Counterclockwise
 
3.) Drive forward 67.5 inches
 
4.) Turn 35deg Clockwise
 
5.) Go to -&gt; Place Ubertube
 
<br>
 
<br>
 
Strategy 7<br>Dead Reckoning (Center Line right fork)
 
1.) Drive Forward 157.3 inches
 
1.5.) Raise arm to middle peg position<br>
 
2.) Turn 35deg clockwise
 
3.) Drive forward 67.5 inches
 
4.) Turn 35deg CounterClockwise
 
5.) Go to -&gt; Place Ubertube
 
<br>
 
<br>Stage 2: Ubertube Placement
 
<br>
 
Strategy 0<br>Do nothing
 
<br>1.) Stop all internal functions
 
2.) Wait for Teleoperated mode
 
3.)Go to -&gt; Teleoperated mode
 
<br>
 
Strategy 1<br>Top Peg (Normal Height)<br>
 
1.) Have manip. twist tube to top peg height angle.<br>
 
1.5.) Raise arm to top peg <br>
 
2.)Drive Forward 30 inches (?)<br>
 
3.) Eject tube onto peg
 
4.) Back up 30 inches<br>
 
5.) Raise arm to max height
 
6.) Go to -&gt; Final Action
 
<br>
 
Strategy 2<br>//Top Peg (offset Height)
 
//0.5.) 1.) Have manip. twist tube to low peg height angle.<br>
 
//1.) Drive back 3 inches<br>
 
//2.) Move arm down 8 inches
 
//3.) Drive forward 2 inches
 
//4.) Eject tube
 
//5.) Back up 24 inches<br>
 
//6.) Move arm up to max height
 
//7.) Go to -&gt; Final Action*//
 
<br>
 
<br>Strategy 3<br>Middle peg (Normal Height)<br>
 
&nbsp;1.) Have manip. twist tube to middle peg height angle.<br>
 
1.5.) Drive Forward 24 inches (?)<br>
 
4.) Eject tube
 
5.) Move back 24 inches<br>
 
6.) Move arm up to max height
 
7.) Go to -&gt; Final Action
 
<br>
 
//Strategy 4<br>//Middle peg (Offset Height)
 
//1.) Have manip. twist tube to low peg height angle..<br>
 
//2.) Drive back 15 inches
 
//3.) Lower arm 38 inches
 
//3.) Drive forward 3 inches
 
//4.) Eject tube
 
//5.) Move arm up to max height
 
//6.) Go to -&gt; Final Action
 
<br>
 
Strategy 5 <br>Low peg (Normal Height)
 
1.) Have manip. twist tube to low peg height angle.<br>
 
1.5.) Lower arm to low height.
 
3.) Drive forward 24 inches
 
4.) Eject tube
 
5.) Back up 24 inches<br>
 
5.) Move arm up to max height
 
6.) Go to -&gt; Final Action
 
<br>//Strategy 6<br>//Low peg (offset Height)
 
//0.5.) Move Tube angle to appropriate height.<br>
 
//1.) Drive back 27 inches
 
//2.) Lower arm 90 inches
 
//3.) Drive forward 3 inches
 
//4.) Eject tube
 
//5.) Move arm to max height
 
//6.) Go to -&gt; Final Action
 
<br>
 
<br>Stage 3: Final Action
 
<br>
 
Strategy 1<br>Do nothing
 
1.) Stop all motors
 
2.) Wait for teleoperated mode
 
3.) Go to -&gt; Teleoperated
 
<br>
 
Strategy 2<br>Turn around and do nothing
 
1.) Turn 180deg
 
2.) Stop all motors
 
3.) Wait for teleoperated mode
 
4.) Go to -&gt; Teleoperated
 
<br>


<br>Strategy 3<br>Go to midfield while driving backwards
<br>  


1.) Drive forward -245 inches
<br>


2.) Stop all motors
{| cellspacing="1" cellpadding="1" border="1" width="750"
 
3.) Wait for teleoperated mode
 
4.) Go to -&gt; Teleoperated mode
 
<br>
 
<br>
 
Strategy 4<br>Drive to midfield backwards, then turn!
 
1.) Drive forward -245 inches
 
2.) Turn 180 deg
 
3.) Stop all motors
 
4.) Wait for Teleoperated mode
 
5.) Go to -&gt; Teleoperated mode
 
<br>
 
Strategey 5<br>Go to right lane to block incoming opposing alliance robots
 
1.) Drive backwards
 
2.) Turn 90deg Counterclockwise
 
3.) Drive until reached lane
 
4.) Stop all motors
 
5.) Wait for teleoperated mode
 
6.) Go to -&gt; Teleoperated mode
 
<br>
 
Strategey 5<br>Go to leftlane to block incoming opposing alliance robots
 
1.) Drive backwards
 
2.) Turn 90deg Clockwise
 
3.) Drive until reached lane
 
4.) Stop all motors
 
5.) Wait for teleoperated mode
 
6.) Go to -&gt; Teleoperated mode<br>
 
<br>
 
<br>
 
To tell the robot which set of actions to perform you select an autonomous mode using the classmate or a paper handbook, which tells you three numbers that you plug in using a keypad on the driver’s station. The robot understands and runs based on the numbers. (Example 000 tells the robot to do nothing during autonomous).
 
<br>
 
= ''''***&nbsp;Ignore the rest of this page *** '''' =
 
This table is the same text as above, just organized into a table
 
{| style="width: 562px; height: 509px" border="1" cellspacing="1" cellpadding="1" width="562"
|-
| Approach the pegs
| Strategy 1<br>Straight line (left side)
| --&gt;
| --&gt;
|
|
|-
|-
| Put Ubertube on pegs
| width="150" | '''Start Positions and Actions:'''
| Strategy 1<br>Top Peg (Normal Height)
| width="880" colspan="4" | Dead Reckoning offset pegs
| Strategy 3<br>Middle peg (Normal Height)
| Strategy 5 <br>Low peg (Normal Height)
|
|  
|-
|-
|  
| width="150" | '''Peg Height:'''
|  
| width="130" | 0 Do Nothing
|  
| width="250" | 1 Top Peg (Offset Height)
|  
| width="250" | 2 Middle peg (Offset Height)
|  
| width="250" | 3 Low peg (Offset Height)
|  
|-
|-
|  
| <br>
| &nbsp;1.) Drive Forward 244.9 inches on line
| <br>
1.5.) Raise arm upward as driving to position for middle peg  
| width="880" colspan="3" |
 
*Drive Forward 245? inches  
2.) If all done....
*Raise arm to middle peg positon (while driving)


2.5) go to -&gt; Place ubertube
| --&gt;
| --&gt;
|
|
|-
|-
|  
| <br>
|  
| <br>
1.) Have manip. twist tube to top peg height angle.
| align="left" width="250" valign="top" |
*Move arm to top peg offset height
*Have Manip. angle tube for top peg offset height  
*Drive forward 36 inches


1.5.) Raise arm to top peg  
| align="left" width="250" valign="top" |
*Move arm to middle peg offset height
*Have Manip. angle tube for middle peg offset height
*Drive forward 24 inches


2.)Drive Forward 30 inches (?)
| align="left" width="250" valign="top" |
*Move arm to low peg offset height
*Have Manip. angle tube for low peg offset height
*&nbsp;Drive forward 30 inches


3.) Eject tube onto peg
|-
 
| <br>
4.) Back up 30 inches
| <br>
 
| width="880" colspan="3" |
5.) Raise arm to max height
*Eject tube  
 
*Back up same amount we drove forward
6.) Go to -&gt; Final Action


|-
| <br>
|  
|  
1.) Have manip. twist tube to middle peg height angle.
*Go to -&gt; End Autonomous


1.5.) Drive Forward 24 inches (?)
| width="880" colspan="3" |
*Go to -&gt; Ending Action


4.) Eject tube
|}
 
5.) Move back 24 inches
 
6.) Move arm up to max height
 
7.) Go to -&gt; Final Action
 
|  
1.) Have manip. twist tube to low peg height angle.
 
1.5.) Lower arm to low height.
 
3.) Drive forward 24 inches
 
4.) Eject tube
 
5.) Back up 24 inches
 
5.) Move arm up to max height
 
6.) Go to -&gt; Final Action


|
<br>
|
|}


<br>Same table as above, but with added comments in square brackets and bolded differences
<br>  


{| style="width: 562px; height: 509px" border="1" cellspacing="1" cellpadding="1" width="562"
{| cellspacing="1" cellpadding="1" border="1" width="750"
|-
|-
| Approach the pegs
| width="150" | '''Start Positions and Actions:'''
| Strategy 1<br>Straight line (left side)
| width="880" colspan="4" | Dead Reckoning
| --&gt;
| --&gt;
|  
|  
|-
|-
| Put Ubertube on pegs
| width="150" | '''Peg Height:'''
| Strategy 1<br>Top Peg (Normal Height)  
| width="130" | 0 Do Nothing
| Strategy 3<br>Middle peg (Normal Height)  
| width="250" | 1 Top Peg (Normal Height)  
| Strategy 5 <br>Low peg (Normal Height)  
| width="250" | 2 Middle peg (Normal Height)  
|
| width="250" | 3 Low peg (Normal Height)
|
|-
|
|
|
|
|
|
|-
|-
|  
| <br>
| &nbsp;1.) Drive Forward '''244.9 '''inches on line [be far enough away from pegs to move arm without hitting pegs]&nbsp;
| <br>
1.5.) Raise arm upward while driving to middle peg position [tube is not twisted yet]
| width="880" colspan="3" |
*Drive Forward 245? inches  
*Raise arm to middle peg positon (while driving)


| --&gt;
| --&gt;
|
|
|-
|-
|  
| <br>
|  
| <br>
1.) Have manip. twist tube to '''top''' peg height angle.
| align="left" width="250" valign="top" |
*Move arm to top peg height
*Have Manip. angle tube for top peg height  
*Drive forward 36? inches


1.5.) Raise arm to '''top''' peg  
| align="left" width="250" valign="top" |
*Move arm to middle peg height
*Have Manip. angle tube for middle peg height
*Drive forward 24? inches


2.)Drive Forward '''30''' inches (?)
| align="left" width="250" valign="top" |
*Move arm to low peg height
*Have Manip. angle tube for low peg height
*&nbsp;Drive forward 30? inches


3.) Eject tube onto peg
|-
 
| <br>
4.) Back up '''30''' inches [same amount we drove forward]
| <br>
 
| width="880" colspan="3" |
5.) Raise arm to max height
*Eject tube  
 
*Back up same amount we drove forward
6.) Go to -&gt; Final Action


|-
| <br>
|  
|  
1.) Have manip. twist tube to '''middle''' peg height angle. '''[arm does not need to move]'''
*Go to -&gt; End Autonomous


1.5.) Drive Forward '''24''' inches (?)
| width="880" colspan="3" |
*Go to -&gt; Ending Action


4.) Eject tube
|}


5.) Move back '''24''' inches [same amount we drove forward]
<br>


6.) Move arm up to max height
<br>


7.) Go to -&gt; Final Action
<br>


|
=== '''Ending Actions'''<br> ===
1.) Have manip. twist tube to '''low''' peg height angle.


1.5.) Lower arm to '''low''' height.
{| border="1" cellspacing="1" cellpadding="1" width="750"
|-
| width="150" | '''Ending Action:'''  
| width="130" | 0 Do Nothing
| width="250" | 1 Stay at pegs don't turn (do nothing #&nbsp; 2)<br>
| width="250" | &nbsp; 2 Stay at pegs (turn 180)
| width="250" |
3 Go to Midfield (drive backwards)


3.) Drive forward '''24''' inches
| width="250" | 4 Go to Midfield (turn 180) <br>
| width="250" | 5&nbsp;
|-
| <br>
| <br>
| width="880" colspan="5" |
*Raise arm to max height


4.) Eject tube
|-
| <br>
| <br>
| valign="top" width="250" align="left" | <br>
| valign="top" width="250" align="left" |
*Turn 180 degrees<br>


5.) Back up '''24''' inches [same amount we drove forward]  
| valign="top" width="250" align="left" |
*Drive backwards 229? inches [note: stay 3 feet away from midfield]<br><br>


5.) Move arm up to max height
| valign="top" width="250" align="left" |
*Drive backwards 229? inches [note: stay 3 feet away from midfield]<br>
*Turn 180 degrees


6.) Go to -&gt; Final Action
| valign="top" width="250" align="left" |
|-
| <br>
| width="880" colspan="6" |
*Go to -&gt; End Autonomous


|
|
|}
|}


<br>Same table as above, but cleaned up to make each column more consistent
<br>


{| style="width: 726px; height: 425px" border="1" cellspacing="1" cellpadding="1" width="726" align="left"
<br>
|-
| width="250" | Approach the pegs:
| width="750" colspan="3" | Strategy 1<br>Straight line (left side)
|
|
|-
| width="250" | Put Ubertube on pegs:
| width="250" | Strategy 1<br>Top Peg (Normal Height)
| width="250" | Strategy 3<br>Middle peg (Normal Height)
| width="250" | Strategy 5<br>Low peg (Normal Height)
|
|
|-
|
|
|
|
|
|
|-
|
| width="750" colspan="3" |
*Drive Forward '''245?''' inches on line [be far enough away from pegs to move arm without hitting pegs]
*While driving: Move arm to middle peg position [do not twist tube]


|
<br>
|
|-
|
| valign="top" width="250" align="left" |
*Have manip. twist tube to '''top''' peg angle
*Move arm to '''top''' peg
*Drive Forward '''30?''' inches
*Eject tube
*Back up same amount we drove forward


| valign="top" width="250" align="left" |
=== '''End Autonomous'''<br> ===
*Have manip. twist tube to '''middle''' peg angle
*'''arm doesn't move'''
*Drive Forward '''24?''' inches
*Eject tube
*Back up same amount we drove forward


| valign="top" width="250" align="left" |
{| border="1" cellspacing="1" cellpadding="1" width="750"
*Have manip. twist tube to '''low''' peg angle
*Move arm to '''low''' peg
*Drive forward '''28?''' inches
*Eject tube
*Back up same amount we drove forward
 
|
|
|-
|-
|  
| <br>
| width="750" colspan="3" |  
| width="880" colspan="6" |  
*Raise arm to max height
*Stop all motors
*Go to -&gt; Final Action
*Wait for Teleoperated mode
*Go to -&gt; Teleoperated mode


|  
| <br>
|
|}
|}
<br><br>

Latest revision as of 10:42, 6 January 2012

Autonomous Actions

We split it up into three stages:

  1. Starting Positions and Actions (Approach the pegs) with Peg Height (Put Ubertube on pegs)
  2. Ending action
  3. End Autonomous


To tell the robot which set of actions to perform you select an autonomous mode using the classmate or a paper handbook, which tells you three numbers that you plug in using a keypad on the driver’s station. The robot understands and runs based on the numbers. (Example 000 tells the robot to do nothing during autonomous).

Start Positions and Actions

Start Positions and Actions: 0 Do nothing
Peg Height: 0 Do Nothing 1 Top Peg (Normal Height) 2 Middle peg (Normal Height) 3 Low peg (Normal Height)









  • Go to -> End Autonomous



Start Positions and Actions: 1 Follow straight line (Left side) and
2 Follow straight line (Right side)
Peg Height: 0 Do Nothing 1 Top Peg (Offset Height) 2 Middle peg (Offset Height) 3 Low peg (Offset Height)


  • Drive Forward 219? inches on line [be far enough away from pegs to move arm without hitting pegs]
  • While driving: Move arm to middle peg position [do not twist tube]
  • Have manip. twist tube to top peg angle
  • Move arm to top peg
  • Drive Forward 30? inches
  • Have manip. twist tube to middle peg angle
  • arm doesn't move
  • Drive Forward 24? inches
  • Have manip. twist tube to low peg angle
  • Move arm to low peg
  • Drive forward 28? inches
  • Eject tube
  • Back up same amount we drove forward
  • Go to -> End Autonomous
  • Go to -> Ending Action



Start Positions and Actions: 3 Follow center line (Left fork) and
4 Follow center line (Right fork)
Peg Height: 0 Do Nothing 1 Top Peg (Normal Height) 2 Middle peg (Normal Height) 3 Low peg (Normal Height)


  • Go foward to fork (while raising arm to middle peg offset.)
  • drive slightly more (to no longer see line, half the robot distance so we can turn correctly(19? inches))
  • Turn left/right until line is visible.
  • Tell Manip to angle tube to top peg positon
  • Raise arm to top peg height
  • Drive forward (while following line) 60? inches
  • Turn 28?/-28? degrees
  • Go forward 24? inches
  • Tell Manip. to angle tube to middle peg positon.
  • Raise arm to middle peg height
  • Drive forward (while following line) 60? inches
  • Turn 30?/-30? degrees
  • Go forward 36? inches
  • Tell manipulator to angle tube to low peg position.
  • Raise arm to low peg height
  • Drive forward (while following line) 60? inches
  • Turn 29?/-29? degrees
  • Go forward 34? inches
  • Eject tube
  • Back up (Same distance as last drive forward)
  • align robot so it is parallel to the line and same distance from wall as Straight Line and Dead Reckoning
    • if right fork: turn -(60 + same angle as last turn) degrees
    • if left fork: turn -(-60 + same angle as last turn) degrees
    • Drive Backwards (16 + 45 - same distance as last drove backward) inches [note: 45 is the amount from the front of the peg]
  • Go to -> End Autonomous
  • Go to -> Ending Action



Start Positions and Actions: Dead Reckoning offset pegs
Peg Height: 0 Do Nothing 1 Top Peg (Offset Height) 2 Middle peg (Offset Height) 3 Low peg (Offset Height)


  • Drive Forward 245? inches
  • Raise arm to middle peg positon (while driving)
  • Move arm to top peg offset height
  • Have Manip. angle tube for top peg offset height
  • Drive forward 36 inches
  • Move arm to middle peg offset height
  • Have Manip. angle tube for middle peg offset height
  • Drive forward 24 inches
  • Move arm to low peg offset height
  • Have Manip. angle tube for low peg offset height
  •  Drive forward 30 inches
  • Eject tube
  • Back up same amount we drove forward
  • Go to -> End Autonomous
  • Go to -> Ending Action



Start Positions and Actions: Dead Reckoning
Peg Height: 0 Do Nothing 1 Top Peg (Normal Height) 2 Middle peg (Normal Height) 3 Low peg (Normal Height)


  • Drive Forward 245? inches
  • Raise arm to middle peg positon (while driving)
  • Move arm to top peg height
  • Have Manip. angle tube for top peg height
  • Drive forward 36? inches
  • Move arm to middle peg height
  • Have Manip. angle tube for middle peg height
  • Drive forward 24? inches
  • Move arm to low peg height
  • Have Manip. angle tube for low peg height
  •  Drive forward 30? inches
  • Eject tube
  • Back up same amount we drove forward
  • Go to -> End Autonomous
  • Go to -> Ending Action




Ending Actions

Ending Action: 0 Do Nothing 1 Stay at pegs don't turn (do nothing #  2)
   2 Stay at pegs (turn 180)

3 Go to Midfield (drive backwards)

4 Go to Midfield (turn 180)
5 


  • Raise arm to max height

  • Turn 180 degrees
  • Drive backwards 229? inches [note: stay 3 feet away from midfield]
  • Drive backwards 229? inches [note: stay 3 feet away from midfield]
  • Turn 180 degrees

  • Go to -> End Autonomous




End Autonomous
  • Stop all motors
  • Wait for Teleoperated mode
  • Go to -> Teleoperated mode
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