Last minute autonomous help

[Robby Unruh]

Originally Posted by Dacilndak

Our team is using 3 front-mounted light sensors with great success. No encoders, no ultrasonic, no timers.

We're using C++. Our autonomous program manages a state machine that gets input from the light sensors and decides what to do based on them. Our algorithm is as follows:

[snip]
111-------------------------------------------------placeTube()

After executing placeTube(), the program quits the state machine and retreats back several feet, then turns on the spot (~180 degrees, but it's not perfect since we don't have encoders or a gyro). Generally, getting the tube on the rack takes about ten seconds, and we're only driving the motors at 40% for drive and 60% for turn.

Is there a horizontal line at the end of the tape to let the robot know it needs to stop? We have it just going and going until there's nothing left, then it goes back a little bit to give room for the tube placement.

Just asking, because we're having our first (and only) regional next week, and we still haven't been able to test our autonomous.