[Mark McLeod]

The ground your robot can cover depends too much on the gearing and wheel slip to know for sure. With no other robots in the way you'll probably make it the whole length of the field during the 15 seconds. But since there are four other robots with trailers in that direction, as well as the robot coming from the left corner, I imagine we'll all end up in one big traffic tie-up in the center.

You probaly want a variation in your autonomous to account for the three possible starting positions. Keeping what you have you can simply duplicate that loop twice more. Then vary your power and times in each for your best guess, e.g., if what you have handles one corner, then just reverse the numbers in the second autonomous for the other corner.

Once you agree on starting positions with your Alliance partners for a match, you can quickly switch between auto programs just by using that True/False switch on the left. True for the corner you'll start in and False for the others.