Team 254 Presents: FRC 2016 Code

[Jared Russell]

Originally Posted by wsh32

How do you check your position in auto after you crossed a defense like the moat, where your wheels might be turning more than you're actually moving? Or did you not run into that problem?

1) we went slowly enough that worst case slip was limited.
2) we used closed-loop velocity control on the wheels to ensure that even if one side of the drive train momentarily lost traction, we didn't suddenly lose a ton of encoder ticks.
3) in the end, we didn't need to be that precise - our auto-aim could make the shot from anywhere in the courtyard, and on the way back we either just used a conservative distance (for our one-ball mode) or used a reflective sensor to ensure we didn't cross the center tape (for our two-ball modes).