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Re: Modular Autonomous?
We used an approach that just might fit your "modular" model.
We developed four autonomous routines, each was it's own vi and existed in it's own case in a case structure which were selectable by a single potentiometer on the robot. Two possibilities for the Home zone (Zone 1), and one for each of the other zones. Each routine was unique to their approach in playing the game, and each used different sensors to perform the routines.
Each routine used a "State Machine" structure to perform it's tasks, this is where the modularity really begins to shine. If extra steps are needed, an additional "State" gets added, ie. backing up from your example. If one portion of any routine needed to be modified, you just modified it in that one state in that particular vi.
We never had a single failure of the code to perform exactly as it was written. The only issues we had were do to the positioning of the balls and the routines of our alliance partners.
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CalGames 2009 Autonomous Champion Award winner
Sacramento 2010 Creativity in Design winner, Sacramento 2010 Quarter finalist
2011 Sacramento Finalist, 2011 Madtown Engineering Inspiration Award.
2012 Sacramento Semi-Finals, 2012 Sacramento Innovation in Control Award, 2012 SVR Judges Award.
2012 CalGames Autonomous Challenge Award winner ($$$).
2014 2X Rockwell Automation: Innovation in Control Award (CVR and SAC). Curie Division Gracious Professionalism Award.
2014 Capital City Classic Winner AND Runner Up. Madtown Throwdown: Runner up.
2015 Innovation in Control Award, Sacramento.
2016 Chezy Champs Finalist, 2016 MTTD Finalist
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