We rigged up our control system with four switches, so we can change our autonomous mode during the disabled period right up until the auto mode is activated, with up to 15 programs (7 one side, 8 the other, disabled)
.
Right now we only have a few implemented:
Hit our ball, stop
Hit both balls, pull around and get in position to grab 2x ball
Hit the goal, grab the 2x ball and push towards our opponents region
We'll probably also have auto modes for blocking out their ball and doing various things with the goal.
State machines make programming these modes so darned easy!
