Autonomous.txt

---AUTONOMOUS---

We can have infinite; the more the better!

Requirements:
-Movement must be precise
-Robot can sense a tote that is ready to be picked up
-Robot can sense when it is close enough to place a tote on another tote

Tote Detection Methods: (prioritized)
-Tote Beam Breaker (only works for 1st tote because we would be holding)
-Camera (for distance to strafe left/right, move forward)
-Ultrasonic (to determine distance to tote)
-Track Encoder Distance, use to return to original position

Scenario 1 V1: Collect all yellow totes by strafing
START: In front of yellow tote facing scoring platform
1. Move forward to first yellow tote
2. Lift tote all the way up (to avoid bins)
3. Strafe to next yellow tote
4. Drop previous tote on next tote
5. Lift stack all the way up
6. Repeat steps 2-5
7. Move forward to auto zone

Scenario 1 V2: Collect all yellow totes by moving forward (ASSUMES ALLIANCE CAN PUSH BINS OUT OF THE WAY)
START: In front of yellow tote facing line of yellow totes
1. Move forward to first yellow tote
2. Lift tote
3. Move forward to next yellow tote
4. Drop previous tote on next tote
5. Lift stack
6. Repeat steps 2-5
7. Strafe to auto zone

Scenario 2: Push one trash bin to auto zone
START: In front of bin facing autozone
1. Move forward to auto zone, pushing bin

Scenario 3: Pull 2 totes from landfill
START: In front of 2 totes in landfill
1. Move forward to landfill totes
2. Lift arms (hook pulls up two)
3. Move back to auto zone

Scenario 4: Strafe to auto zone, pushing tote
START: Side facing tote facing scoring platform
1. Strafe to auto zone (10ft?)