[adciv]

We use LabView but try to do the same thing. We categorize the behaviors we want the robots to perform. One advantage of this is we typically have some pretty complex autonomous & teleop routines and this makes it easier to develop both.

2012 Rebound Rumble Routines (for example)
1) Ball Management - Statemachine manages the inventory and location of balls in the robot, ensuring we never went over the limit and that all balls were under positive control at all times. Balls were automatically routed through the system to provide a ball as soon as possible to the shooter.

2) Shooter Management - Managed Shooter RPM and inhibited firing if RPM was not within tollerance

3) Shooter Targeting - Recieved location of target and automatically moved the turret to target

4) Ball Detection (implemented after season) - Could find balls automatically and provide the location to the drive system for pickup

5) Driver System - Could take the location of balls and drive towards them until they were picked up to be handled bythe Ball Mangement System

This could be considered a "System of Systems" (groan all you want). Each subsystem handles it's task and is connected (as loosely as possible) to others. It's discrete portions of code instead of monolithic items. We're working on re-implementing this years code in a similar manner. It also makes it easier to maintain/troubleshoot.