For the record, that was me trying to skew the robot to some other angle than its starting angle. Basically, we wanted to verify that if the robot was to be skewed, either by bins placed in front of it, or by it colliding with another robot, that the robot would:
A) Compensate for the change in angle, and 'Theta Correct' back to its pre-programmed angle
B) Not lose its position on the field during a collision and still find its way to its next waypoint.
I think the video shows pretty well that it worked as designed.... Although, I think I should have used more than just a bin to try to stop that thing. It hurts when it runs into you!! I think this was the one test trial that didn't involve parts of the robot running over my ankle
-Nate