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Re: Autonomous Planning
A lot of these questions depend on knowing the current score. For example, should I block or score? If the other alliance has been scoring rapidly, go for block. If you are losing but the other alliance isn't scoring too much then you should go for scoring.
For the "is a bot blocking the goal" problem, a simple color detection below the target should be enough. If you detect a nice big rectangle of your team's color below the target, odds are you have an open goal.
A score counter could also be useful for the goal choosing. If the robot kicks and doesn't see a ball scored within a certain period of time regularly, maybe it should switch to the other goal.
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