[AmoryG]

Our autonomous program isn't completely debugged, but we've programmed it so that it should drive toward a ball, stop when our ball detector sensor detects something, aim at the goal with our vision tracking, kick, realign, then loop that depending on what zone we're in. We also sort of programmed encoders to track our position in autonomous mode so we don't go too far (especially if our gyro or something else goes wacky and we end up crossing zones).