Autonomous Mode for Ultimate Ascent (Screenshot/vi included)

[joecloud]

Hey guys, so I've been testing out Autonomous mode (haven't had a chance to deploy it yet). But the main thing I'm trying to accomplish is learn how to use that tool- Since we didn't use it during the Ultimate ascent competition. But I'm not sure if the code is right, I drew it as what I thought would be a logical manner- But I'm still learning, any tips/feedback is appreciated.
It is designed to shoot at the 1 point corner goals. My intentions with the code is as follows:


-Robots moves for 3 seconds towards goal. and the main shooter motor spins up during that time.
-Robot stops, note: shooter motor (Push 1) will spin until the entire program is done.
-Feeder (arm motor that will push frisbee forward into Shooter motor) will move forward moving frisbee forward.
-Feeder arm retracts, Servo 1 (it acts as a gate, so frisbees can't drop into loader until the loader is empty) opens, allowing frisbees to pass.
-feeder arm pushes forward again, launching frisbee #2. while servo 1 returns to original block position.
-Feeder arm retracts, Servo 1 opens, allowing frisbee #3 to pass.
-Feeder arm pushes forward frisbee to Push 1 motor, which launches frisbee #3 into goal.
-Everything terminates.


I attached a screenshot in this post of what it currently looks like.
As well as the vi itself.


Thanks guys,