Autonomous Modes

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Autonomous modes are a menu of predefined robot operations. Each mode is composed of operational blocks strung together sequentially with the intention of reaching a goal such as moving the robot from one position to another or finding an object, picking it up, and placing it in a container. Each operational block can be modified with parameters.

Operational blocks are a specific series of actions for the robot to perform. They can be very simple or complex combinations of multiple operational blocks.

1. Reset the robot to a predefined state (e.g. not moving, arms down and closed).
2. Wait t seconds maintaining the robot's physical current state.
3. Move Forward t seconds or x meters.
4. Move Backward t seconds or x meters.
5. Turn x degrees.
6. Pick Up Tote and raise it t seconds or x meters high.
7. Set Down Tote
8. Pick Container Up and raise it t seconds or x meters high.
9. Set Container Down

Pick Up Tote

Autonomous Modes

Mode A1: NoOp

This is the simplest mode. The robot performs no operation. It is the embodiment of the "sound of one hand clapping".

Mode A2: Move Forward into Auto Zone

With the robot positioned facing the Auto Zone, with it's back to the Alliance Wall, move the robot into the Auto Zone.

1. Move Forward X seconds

Mode B1: Pull Tote into Auto Zone

With the robot positioned facing the Alliance Wall, with it's back to the Auto Zone, grab a Tote and back the robot into the Auto Zone.

1. Open Arms
2. Move Forward X seconds
3. Close Arms
4. Back Up X seconds

Mode B2: Pickup Container for Trash

With the robot positioned facing the Alliance Wall, with it's back to the Auto Zone, grab a Container and lift, then position to accept Trash.

1. Open Arms
2. Move Forward X seconds
3. Lift Arms X units high
4. Close Arms
5. Lift Arms X units high
6. Move Forward X seconds