[seanwitte]

In theory we will be able to drive through any series of waypoints the strategy team comes up with. We shamelessly copied team 111. The waypoints are plotted on a map of the field that doubles as a realtime display using data sucked out of the dashboard port. We'll string together a set of building-block commands into a macro for each behavior. Position is determined using a gyro (ADXRS150) and wheel encoder (128 cpr ~ 0.3" resolution). The commands are:

1) Turn to a specific global heading
2) Drive to a waypoint
3) Move the arm to a specific position
4) Actuate a piston
5) Switch gears

Command 3 does not block commands 1 or 2 so it can be running in parallel. It all worked on the edubot but hasn't been tested completely (ok, at all) on the full size robot.