[nathanww]

One thing that we discovered early on in the competition season is that any type of autonomous that relied on timers, encoders, etc to get to a certain point at the field was pretty much doomed to fail due to the huge conglomeration of robots that build up in the middle. Hitting that might be effective defensively, but not offensively(you can't score or collect moon rocks)

We have two basic autonomous modes--in one we head over to our player station or outpost to have balls loaded in, and use the camera to do obstacle avoidance. The other is basically the reverse of that--we track someone down and fire into their trailer during auto.