2011:Autonomous User's Guide

Programming's User Guide to Autonomous:

Step number one, which starting mode do you want?  There are 5 different possible starting positions which include:

1. In front of the far left peg with no line to follow.
2. In front of the second farthest left peg with a straight line to follow.
3. In front of the line the splits to go towards two different sets of pegs.
4. In front of the second farthest right peg with a straight line to follow.
5. In front of the far right peg with no line to follow.

From these 5 starting positions, there are 5 variations of start code that handle all 5 positions:

1. A start mode where the robot uses no lines for position 1 and 5.
2. A start mode where the robot uses a line for position 2 and 4.
3. A start mode where the robot turns left at the break from position 3.
4. A start mode where the robot turns right at the break from position 3.
5. A final option of doing nothing from any position, simply sitting still for 15 seconds.

Using these four simple start modes, you can position yourself to score from any starting position.  The next step is choosing which peg you're trying to score on, of which there are 6 options total, but a limit of 3 per starting position.  Not all options are viable for each starting mode due to variation in peg height.  The 6 options are as follows:

1. Scoring on a low peg with a low offset.
2. Scoring on a medium peg with a low offset.
3. Scoring on a high peg with a low offset.
4. Scoring on a low peg with a high offset.
5. Scoring on a medium peg with a high offset.
6. Scoring on a high peg with a high offset.

The first three options are only viable for starting positions 1, 3 and 5 while the last three options are only viable for position 2 and 4.  At this point, our autonomous has driven into scoring position and then is done, but don't we want more then that?  Using our time wisely, we can move into a strategic position to wait out the end of autonomous mode.  For these ending positions, programming has come up with 6 options:

1. Waiting under the peg, while doing nothing after scoring, always an option, but maybe not the best.
2. Waiting under the peg, while turning around so you drive straight out after autonomous finishes.
3. Turning around, and driving towards the middle of the field, but not so much as to incrue penalties.
4. Driving backwards towards the midfield, again, not so much as to incrue penalties.
5. Moving to in front of one of the opponents lanes, so as to block them from getting into the lane.
6. Moving to in front of one of the opponents lanes, while also turning to line up with one of our own.

Congratulations, you've managed to get through Programming's Autonomous User's Guide!  You've looked step by step at the different ways the robot can move into position, score, and again move into position to end the autonomous mode.