[willsterm]

I must be thick.

In autonomous is the first thing .. so presumably the gyro is set to zero (and the judges can re-position the robot as they see fit, so zero may not mean that the robot has a useful reference .. so if when the game starts the target is not in view the robot rotate to the zero angle .. which it currently believes it is in .. so no movement.

The other case is that the robot does see the target, so the setpoint is set the current heading .. which would be zero anyway ... once again the robot has not moved.


What am I missing?

Thx