[EbonySeraphim]

Caleb Fulton: You just sort of ran over the hardest case to check as if it was nothing. Unless there is some magical hardware tool that gives your program input on wether or not it is going up the ramp, that's very hard to know. I actually posted a relatively simple but very flawed solution in another thread. Also why would you want to go forward X amount of time? Wouldn't you not care how long it takes to get there, but rather, that you DO get there? I'm not saying you're completely wrong. Just throwing big flaws in the approach. I don't think there is a solution to autonomous code. Only a way that has the highest chance of success, one that is the fastest(higher chance of failure), and one that tried to be flawless, and ends up not doing much.

To Solace:
That check would have to be done with sensors. One on the far left and right of the robot. Once one goes off, you know thats the way your robot should be going for the rest of the time. The reason that they should be far apart is in case your robot drifts a bit to the right or left. You dont want your robot to think it should go the wrong direction.

To AntmanIV:
I wouldn't say you should abandon autonomous code completely - but you shouldn't leave anything there that could kill your robot (or people). Just think of the problem on a very simple level, and make the hardware guys do more work to make your job much easier. If my hardware guys could tell me that when the robot is going up the ramp this will give that input value, I would have near flawless line-tracking code.

Edit To jzampier:
About the dead reckon/line follow code. Why does it matter if the robot is too jerky? The/a sensor shouldn't always be on a line. Why not just say, keep the line between two sensors? As long as your robot goes foward and the line is between the sensors, you must be going the right way, right? Once again, I agree that dead reckoning is the fastest, but when it goes wrong...it goes wrong. And if you do a pure dead reckoning robot from the start, don't you only have a 50/50 chance of going the right way in the start? Left or right? I think you should at least know that before doing much else.