Taking what Johnny B already said:
we cap the center goal 100% now in autonomous mode. From there, we can do whatever we really need.
Taking the scripting FIRST 'gave' us this year, we've developed a similar system but all 100% original code that allows us to script autonomous modes very quickly.
We utilize left and right free spinning encoders, a pot on each joint (2 joints) and a pneumatic cylinder we maintain the position of in code.
Although we have yet to code an autonomous mode from a diagram and use it in an actual elimination match, nationals might be the time that comes.
Currently, I am working on two different projects to theoretically enable us to cap any goal: a) a free text parser that writes autonomous modes b) a gui that you can use to create autonomous modes.
The only reason our team has the luxury to do these crazy things is because with the no work periods, the programmers would get bored.

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