AUTO-01: Choose the start spot in the INIT menu

medium prioritySimulator or real robotabout 30 minAutonomous and the INIT menu

• Your robot needs: any robot.
• Starter bots that fit: goBILDA starter bot, REV DUO starter bot, AndyMark Robits starter bot, Studica starter bot.
• Library version: v0.17.0 or newer.
• The docs it tests: Several autonomous modes, and choosing the right one, Several autonomous modes, and choosing the right one.

Why

One autonomous can start from two spots: a Start line in the INIT menu picks the steps AND the start (start(...) inside an onlyIf). The "Place robot" note, the simulator's robot and the odometry's start follow the choice while the drivers change it. If the note shows the wrong spot, the drive team puts the robot in the wrong place.

Safety

• Real robot: the autonomous drives by itself. Clear floor, everyone out of its way, a hand on STOP, PRACTICE profile.

Setup

• An autonomous with a menu line and a start(...) for each option, like example 2: s.menuChoice("Start", "Near", "Far"), then s.onlyIf("Start", "Near").start("NEAR: ...", ...)...end() and the same for "Far".
• Simulator: your robot from Robot.java (./gradlew :sim:fromRobot -PteamCode=../TeamCode, then ./gradlew :sim:run -PteamCode=../TeamCode).

Steps

1. INIT the autonomous. Read Place robot : NEAR: ... (the first option is chosen at INIT).
2. With the D-pad, go down to the Start line and change it to Far. The note changes to FAR: ... at once. Simulator: the robot on the field map moves to the far spot.
3. Change it back to Near, then to Far again. The note follows every change.
4. Put the robot on the far spot. START. Read the report at the end: the far steps ran, the near ones did not.
5. With odometry: INIT a TeleOp right after and read the Pose line: it starts from where the far route ended.
6. Spell an option differently in onlyIf (say "far"). INIT, choose Far: nothing in that block runs. Say whether the screen helped you find it. Put it back.

Pass rule

The "Place robot" note matches the chosen option every time it changes (at least 3 changes, 3 of 3), and the run in step 4 starts from the far spot and runs only the far steps.

Record

Write these down while you test. The report form has them as a list to fill in.

• your two start(...) lines and notes
• simulator or real robot; with or without odometry
• the report lines from step 4
• what step 6 showed

If your robot is different

Any drive works. Without odometry the start spot is only the note and the simulator's place: check the note. A parkWithSeconds(...) inside an onlyIf follows the menu the same way: try it if you use one.

Report your result

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