2011:Low-Level Autonomous System

The low level autonomous code uses the following system that gives high level autonomous a series of tasks to perform, and only need to call methods to start these tasks.

Loop Structure:

1. Give New Task Type, Goal, and Method. (call task method once)
2. Process Input (call process method)
3. Check Current Input Against Goal (call check done method)
   1. Match:
      1. More Tasks: Go to 1
      2. All Tasks Complete: End
   2. No Match: Go to 2
      

Note: at any time, the loop can be broken by calling a stop method.

List of Current Low Level Methods:

Name	Input	Description	Process Action	Check Done Condition
Drive_Forward_Distance	Distance to Drive (inches)	Drive forwards the given distance	Set drive motors to drive straight	Encoder ticks indicate distance has been achieved
Drive_Keep_On_Line	N/A	Drive forward, using optical sensors to maintain path of reflective tape line	Maintain direction, drive forward	Sensors indicate the line has ended
Drive_Turn_Angle	Angle to turn (degrees from the current angle)	Spin the robot CW the number of degrees provided	Drive motors opposite, power depending on progress	Gyro indicates angle has been reached
Drive_Turn_Until_Line	Turn right or left	Spin the robot until it senses it is lined up with a tape line	Drive motors in the given direction at a set speed	Sensors indicate the line is now under the robot