[cstelter]

Are you using command based robot? Simple robot? Iterative Robot? Answers will vary depending on your situation.

Our team has not gotten to actual autonomous code because the build team is behind yet. So far we have only a practice chassis with mecanum. Using Commands we created one command for DriveForTime that takes for its constructor magnitude, direction, rotation, whether or not to use field-centric motion, and a timeout. We have another command for RotateToAngle. With just those commands they can be sequenced to drive straight for 1s, rotate 90 degrees, over and over 4 times such that it is ending up within an inch of its starting position.

We're hoping once we have a bit more of a robot that we can continue to add commands for raising/lowering forks, etc to collect containers or totes.