“Bank Shot”
Shameless self-promotion. 3082 (Chicken Bot Pie) in red lands an auto cube in the switch after it bounces off of their alliance partner 3871 (Trojan Robotics) in 2018mnmi2_qm54.
We had a 100% success rate of 1 cube in the switch at Lake Superior, but broke our Pigeon IMU during practice matches at North Star. Since we didn’t have a replacement, I had to write a new auto routine that was mostly guesswork based on encoder values and time… it only worked once on the competition field (but many times on the practice field), and this was that once.

