[Astronouth7303]

Our robot last year was designed to not move, and so most of its operations were supposed to be autonomous.

Of course, there were issues that prevented this idealized vision. However, it should give you an idea of how it works.

Here's how I recommend approaching the issue. Autonomous and user mode just change where you get your inputs. They should be feeding the same routines. This allows you to use any advanced stuff you develop in both autonomous and user mode. These common routines, hardware control code, should present a fairly high-level interface. Saying that numbers are in m/s is a little excessive, but you should be getting an idea.

Last year's robot followed this, even though most of the inputs were for override modes. (And we had plans for things like power management and such. "These devices should be killed when voltage gets this low", etc.)

As for autonomous: Don't code at the lowest level you can. Instead, code at a higher level. Write functions to handle all the fancy bits. Don't implement the "drive n feet" code 5 times. You don't have to go all-out with the scripting stuff from kevin.

The single most helpful tip: Writing too many helper functions/macros is better than not enough.