I made a rather simple autonomous that works for all 3 zones, using one of the old banner sensors as a ball detector.
Autonomous is a simple loop of :
- Drive Forward
- Check if the banner sensor has tripped
- Check if the kicker has reloaded
- Fire the ball if it is, and reload if it's not
- Rinse, repeat
However, it times out after about 2 seconds to prevent hitting the bump or the wall in case there's no more balls in the zone.