[JesseK]

If you can shoot and move in autonomous, why not have it to where you can start at one of the back corners in autonomous? The left/right margin of error for the middle goal is quite large and it would get you out of the way for autonomi that need the middle.

We're muddling around with a 9, 7, and 5 disc autonomous modes. Who knows what we'll actually get working though. Luckily it's easy to change our gear ratio to one of 4 possibilities to find the balance of PID tuning and time minimization.