[gl75]

I shouldn't be talking since our robot barely worked, but we used a select statement to switch between autonomous modes in user routines fast. This "in theory" will make our autonomous failsafe if the desired mode encounters a problem.


autoMode = DEAD_RECKON;

switch (autoMode)
{
case DONOTHING:
break;

case DEAD_RECKON: /* Dead_Recockning */
// MyTimerInterrupt is calling Handle_DeadReckoning
//rr_auto_mode_dead_reckoning();
// RR_LEFT_DRIVE_MOTOR = leftScaledSpeedCmd;
// RR_RIGHT_DRIVE_MOTOR = rightScaledSpeedCmd;
// RR_LEFT_DRIVE_MOTOR = 157;
// RR_RIGHT_DRIVE_MOTOR = 175;

if(RR_OPTICAL_SENSOR_1 == 1)
autoMode = LINE_TRACKING;
break;

case KNOCK_BALL:
// put something here
break;

case LINE_TRACKING:
rr_auto_mode_line_tracking();
break;

case DONOTHING:
break;

}

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We're using a PID control loop also in our autonomous, taking in feedback from 2 encoders mounted on the left and right drive train. We ended up disabling a good portion of it since the encoders kept getting dislodged. Anyone else use a PID loop with success?