Quote:
Originally Posted by Toa Circuit
Our basic structure is a bunch of <subsystem> <state> or <wait> <subsystem>. To wait for multiple subsystems, wait multiple times.
Script looks like this:
Code:
drivetrain 0.5 0 0 1 //0.5 Y, 0 X, 0 W, 1 second
catapult winched
sides deploy 3
wait drivetrain
wait catapult
wait sides
catapult fired
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Quote:
Originally Posted by notmattlythgoe
Code:
addSequential(new DriveStraightCommand(0.85, 60));
addSequential(new TurnToDegreeCommand(0.5, 45));
addSequential(new DriveStraightCommand(0.85, 24));
The above would drive forward at 85% power for 60 inches, then turn 45 degrees at 50% power, then drive forward for another 24 inches at 85% power.
If you have tested these commands out extensively you should know the robot will do exactly that the first time you run it. |
Do either of these methods allow non-linear steps? What happens in case of failure? Surely it's possible that a robot could fail to drive some distance.
Our autonomous modes were DAGs that would not only do different things but intentionally leave the robot in different states for the driver depending on what happened during autonomous.