Question about autonomous mode

[mgurgol]

Have 3 different auto modes written. By modifying the calculations, you should be able to place your robot either at the green light (like you described), or to the plate either to the left or the right of the green light, by offsetting the calculation, and calculating the necessary angles.
If you are able to do this, meet with your alliance members before the match to determine what postion you are going to start from, and which arm you are going after.

Since they will spin the rack before the match, you won't be guaranteed that it will be a straight line to the light anyway, just play with the math a little and you should be able to geometrically determine where you are on the playing field (with respect to the light) and where you want to go. The arms on either side of the light are at 45 degrees from center of arm.