[Doug Leppard]

We use way points for our autonomous mode. We use a combination of gyro and wheel encoders and sonar "bumpers" incase we get too close to the wall.

What we do is have one way point that it aims for and a second way point it stops at.

For instance if you are going for x=23 and y=20 the robot calculates the angle to the target and adjust the wheels to aim towards the target. Then depends on the circumstances have a stop point at least 1.5 ft before the target way point. We do that so it doesn't start to have weird angles as you get close to it and causing it to veer off.

Important to have this else you will experience the problems the first post is having.

It was working well except we started having weird problems at the start, we think it is because it possibly might be going through the driver mode before it goes into hybrid mode. Some CD discussions have suggested this as an possibility.