Auto Planning

[dec1701]

Software Team will be having a meeting to discuss a plan for the path the robot will take during the autonomous period

Requirements to be aware of:

• Autonomous period will last 45 seconds
• Robots may NOT cross the center "Autonomous Line" during the autonomous period
  (Note that this includes making contact with tiles or game pieces on the opposite side of the autonomous line)
  (Also note that pieces that start ON the autonomous line are not considered to be on either side to begin with)
• Balls starting FULLY on one side of the autonomous line may NOT cross it
• Prior to the start of each Match, the Robot must be placed such that it is:
  a. Contacting its Home Zone (the 1 x 6 tile area closest to the wall)
  b. Not contacting the gray foam field tiles outside of the Alliance’s Home Zone
  c. Not contacting any Balls other than the Preload
  d. Not contacting another Robot.
  e. Contacting exactly one (1) Preload.
  i. The Preload must be contacting exactly one (1) Robot.
  ii. The Preload must be fully within the field perimeter.
  iii. The Preload must not be breaking the vertical projection of the Goal, i.e. the Preload must not be
  inside or above the Goal.

Current plan:

• start against wall facing corner goal
• strafe left
• turn left to face ball in front of goal (combine strafe & turn?)
• intake ball
• forward into goal (intake movement detecting when goal is in position?)
• descore both balls in goal
• score ball that was collected
• back away slightly from goal
• turn right to face the wall
• strafe right to middle home goal
• I honestly forget this part, @ paul help
• back away slightly from goal
• turn 180 to face center goal
• drive forward to ball in front of center goal
• intake ball
• score ball in center goal (claiming the goal)
  

[dec1701]

Idea: At the end of one of the bots' auto, have it hook onto the center tower and constantly check what the highest scored ball is. If it's not our color, cycle until it is (maybe eject those that aren't?). Probably not the most efficient use of time, but it's something to think about.