Quote:
Originally Posted by billbo911
This can easily be achieved with a state machine. Check out FRCMastery.com for a really helpful tutorial on how to set this up. |
A state machine is only necessary if your code needs to run very quickly and exit, and then run again the next loop, for example if it's being run in telop. That's not necessary for autonomous independent, because that code doesn't need to exit. State machines are great tools, I just wouldn't apply one in this situation.
Look at the frcmastery video "Step 5 - Turn on Autonomous Mode". It walks through the default (non game specific) autonomous code, which runs the drive train for certain periods of time. It shouldn't be hard to do something similar to add arm control.