[JamesBrown]

write multiple autonomous modes, the more sensors you use the longer the processor takes to determine a path and shoot, If there are no defensive robots on the other team then just shoot if there are defensive robots then go where ever the robot isnt and shoot from there.

This is a good example of how different parts of your team need to come together at competition. Your scouts need to know what your opponents do in autonomous, your drive team needs to know what your alliance wants to do and what they want you to do. Then the programmer needs to make it happen. THere is not time in between matches to write new code(well not too much new code) so write as much as possible now. if you have 16 modes on your robot (and they all can be downloaded and fit in the robot controller) then you only need 4 switches to pick wich one to use. If you decide against that keep them all one your laptop and put them on right before the match, Label them clearly or even put a picture in each folder with the code so you can remember what it does and show your drive team and alliance partners. In the elimination rounds you may want to be able to show your partners everything you can offer to have the best shot at a win.