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Re: Autonomous speed
Last year, my team's autonomous mode was written at the very last minute, used only time, and worked reliably. However, we didn't try to drive anyplace.
Our arm was controlled by a pneumatic ram attached to a solenoid that had three positions: 1)In, 2)Out, and 3)All ports blocked. We would turn it to "out", wait a second or so, then set it to "all ports blocked". Since we would always start with the same pressure no matter how much power we had in our battery, it was consistent in how far it traveled and would knock off a tetra from one of the corner goals.
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