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Originally Posted by Must Be Drama
I understand we have to use state machines.
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Not necessarily. It depends on what you want the robot to do.
Our autonomous mode drives forward, turning on and off the ball magnet roller, arming the kicker, and kicking, multiple times, in a specific sequence at specific locations on the field. It uses only the wheel encoder values to control what it does, by turning the encoder counts into a number of inches and feeding the inch value into a case structure.
What sequence of events do you want your robot to follow, and how do you want to meter that sequence?