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Our solution to this was to just start with the joysticks full forward. Easier, more reliable, and it didn't lock us into running headfirst if we didn't want to.
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That seems reasonable. You still have to live with a potentially negligible time delay between when your robot becomes live and when it gets the first joystick command. These may occur simultaneously, but, you never know.
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Personally I think a fully autonomous competition would be horrible (Im biased cause Im a driver) I've seen autonomous robotics competitions before. They are a difficult engineering challenge (even with tons of expensive sensors), but they are boring to watch.
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You mean you don't want to watch a robot stuck in a corner, repeatedly executing the same failed maneuver, banging on the playing field border over and over and over and ...? Now that's entertainment!
Andrew, Team 356