[Fred Sayre]

2 quick things to keep in mind:

1st, G40 clearly states that a robot is not IMPEDING if there is a clear “passing lane” around the ROBOT. This means that if there is room to drive around, the robot is not by definition, impeding. (if this was said before, I apologize - this is a long post, but people still refer to the drive forward 3' robot as necessarily impeding).

2nd, Our auto has a "Pause" function. I highly recommend it for these teams getting so many lines. If your robot is driving at extremely high speeds around the track and you do not have direct control I would say that it is negligent to think it is not going to ram into something. I think some of the better teams are using pure auto and are not dependent on the IR, and if that is the case, add a safety stop to your functions to avoid these penalties!

Just because your code goes fast and its not your fault that people "get in your way" does not mean that you can absolve yourself of the responsibility of keeping in check a machine that will have high speed collisions under normal field conditions.