2011:Autonomous ToDo

Code Changes

Description	Where	Status	Tested
fix turn angle for left fork	auto code	DONE	no
do arm pre-match while doing initial drive instead of going to middle peg height	auto code	DONE	no
remove extra ending actions from playbook (remove 5, 6, 7 and 8)	driver station	coded, not checked in yet	no
maybe remove extra starting positions from playbook (remove 2, 7, and 8; remove "left side" text)	driver station	coded, not checked in yet	no
print playbook		DONE	n/a
Check received auto mode against broken switches at auto start	ThunderBot autonomous()	DONE	no
Check received auto mode for unimplemented/out of range modes	ThunderBot autonomous()	DONE	no
add a "straight-up" arm position	auto and arm	DONE	no

Testing Progress

Code	Description		Initial	Final
000	Do Nothing	Do Nothing	DONE
110	Line (left/right), top peg	stop	DONE
120	Line (left/right), mid peg	stop	DONE
130	Line (left/right), low peg	stop	DONE
310	Fork (left), top peg	stop
320	Fork (left), mid peg	stop
330	Fork (left), low peg	stop
410	Fork (right), top peg	stop	DONE
420	Fork (right), mid peg	stop	DONE
430	Fork (right), low peg	stop	DONE
510	Dead reck (left/right), top peg normal	stop	DONE
520	Dead reck (left/right), mid peg normal	stop	DONE
530	Dead reck (left/right), low peg normal	stop	DONE
610	Dead reck (left/right), top peg offset	stop	DONE
620	Dead reck (left/right), mid peg offest	stop	DONE
630	Dead reck (left/right), low peg offset	stop	DONE
111	Line, top peg	raise arm, no drive, no turn
112	Line, top peg	raise arm, no drive, turn 180
113	Line, top peg	raise arm, midfield, no turn
114	Line, top peg	raise arm, midfield, turn 180
311	Fork (left), top peg	raise arm, no drive, no turn
312	Fork (left), top peg	raise arm, no drive, turn 180
313	Fork (left), top peg	raise arm, midfield, no turn
314	Fork (left), top peg	raise arm, midfield, turn 180
xxx	encoder broken switch
xxx	delay

• Low/Mid: Eject + lower
• high: lower+eject, continue ejecting and backup

• add 12 peg presets for tube straight out + for lowering the arm
• move arm to desired preset on first drive
• remove twist manip from twist state
• add lower arm to ejection state
• move eject to reverse state
• adjust fork drive onto peg distance
  • FORK_*_PEG_DRIVE
  • STRAIGHT_*_PEG_DRIVE
  • DEAD_*_PEG_DRIVE

high drive -= 6 low/mid drive -= 20