[PatJameson]

Our Kinect operator starts out with both arms out and the shooter wheels begin to spin automatically. When the leg is moved up, the piston is activated, shooting the ball. When the arm is moved down, the rollers move, loading the next ball.

In this case, that was repeated more than usual as we were being feeded. In normal a normal match, we would attempt to drive to a bridge to knock the balls down, or at least get close to a bridge so we could quickly grab them in teleop.

Because there are a limited amount of actions that can reliably be picked up with the Kinect, we decided to have two modes of control. These modes can be switched by moving a leg outward to the side.

The first mode that is initially active is the shooting mode, described above. The second mode is the driving mode. In the driving mode, the feeding rollers continuously run and the arms control the drive train. The leg up motion controls the bridge manipulation mechanism.