Quote:
Originally Posted by Ken Streeter
Since 2006, Team 1519 has broken our autonomous programs down into a series of more general specific operations, exactly like the ones you describe. This actions are the "instructions" that we want an autonomous program to perform. Our autonomous programs are then collections of these "instructions" in a specific sequence. Once each of the individual instructions is written and debugged, these can be quickly composed into a multitude of variations of autonomous programs.
|
Another benefit we (team 1519) get from our autonomous mode virtual machine is that adding a new autonomous mode or changing an existing one does not really involve changing code, so we can do it with much less risk of breaking something important. This made it very easy to take our existing 3 ball autonomous and turn it into a 5 ball autonomous program at GSR, our local week 1 regional.
I'd be interested to hear how other teams select which autonomous mode to use. We select the program number using joystick buttons on the OI, displaying the current program number using the DriverStationLCD. We have +/- 1 and +/- 10 buttons. Also, we allow the operator to select a delay before the program starts running. This has been useful when we've been playing with an alliance partner who would otherwise block our shots at the start of autonomous.
Noel