Autonomous

Autonomous opmodes operate without human input. Thus, the actions of our robot will take up different phases throughout the match's autonomous period, such as this series:

• Approach Beacon
• Turn To Beacon
• Drop Climbers
• Face Wall

These phases are entirely linear, however the parts they contain are not. One may need to poll a sensor value thousands of times over in order to reach a wall or beacon. Because of this, each phase is "ticked" until it returns an approval that the phase is complete.

The T10Autonomous abstract opmode manages the linearity of these phases. A regular autonomous opmode simply registers all the phases, in order, into the queueing system.

#What are phases?

Phases are supercontrollers, AKA controllers which consume multiple smaller controllers if not already consuming organs upfront. For example, the Approach Beacon controller may contain the following controllers:

• Head to wall
• Sweep up blocks
• Avoid collisions

Obviously, these controllers are entirely nonlinear. If another robot suddenly drives in front of us, we're not going to reach the wall for at least a few extra seconds. Additionally, since the primary objective is to Approach the beacon, we want to make sure the Head to wall controller gives us the O.K. (returns a true tick).

Once we get that objective tick, we can then return true ourselves, thus ending the phase and moving onto Turn to beacon.