We have about 2 days to write a programming skills run. We are starting from scratch, apart from a skeleton of a 3-ball routine. However, the algorithms have changed and distances will not be the same as before.

Currently, we can only move in straight lines. It is using the 2D motion profile codebase, but there is an issue with following a spline. Therefore, we will only feed it lines, effectively turning it into a 1D motion profile.

The current rough plan:

Where red is forward, blue is backward, green is turning, and orange is direction.

Hopefully, we will be able to pull this off for the Feb 6 competition.

Update Feb 6

The routine exeeded our expectations, by actually scoring decently well! We managed to program all the steps in our plan. It missed a few goals at the competition, but by shooting for a higher number of goals than before, we won the competition and beat a personal best!

Here is a successful practice run:

At this competition, we learned a lot, like the importance of planning where to poop, the need for some extra sensors for consistency, and generally what needs to be done to improve the autonomous.