[Brandon_L]

Originally Posted by mathking

A quick example of an instructive failure. Last year at Queen City, our ability to shoot autonomously mysteriously failed. The cause was a piece of retro-reflective tape placed wrong side up. As a result the optical sensor could not determine the shooting wheel speed. So the robot just waited the whole autonomous period for the shooter wheel to get up to the correct speed to shoot. The fix was easy. We coded a timer so that after waiting for 1 second without a change in speed from the sensor the robot would just shoot. (For the record, that fix was incorporated in the code at one point before competition, but in making a couple of changes at competition it was accidentally deleted. Because we didn't have wifi access to the code repo no one noticed at first.)

Would also be a good idea to give some kind of error readout after the 1 second as well, so you don't continue on your merry way thinking everything's working fine.