2011:Autonomous ToDo
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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
