Autonomy: How Did You Guys Do It?

[Kingofl337]

Originally Posted by Bethie42

On another note, has anyone here worked on an autonomous mode that scores more than one tube?

We have, done two tubes.

We turn the robot into a rolling PID Loop and just start executing commands to the PID controllers.

Arm Length and Tilt PID for HighMiddle
Ultrasonic & Gyro PID to 36" from the wall.
Ultrasonic & Camera PID to the peg tube 1
Reverse Claw
Arm Length & Tilt PID to home
Arm Length and Tilt PID for Front Pickup Run Claw Intake
Strafe Wheel Pods & Encoder PID infront of tube 2
Drive FWD until the claw detects a tube
Arm Length & Tilt PID to HighEndPeg
Ultrasonic & Gyro PID 36" from the wall
Ultrasonic & Camera PID to the Peg
Arm Length & Tilt PID to home
Reverse Claw

If you watch the video you can see each step: Video