Time Tests for Autonomous

[SamSunvold]

Autonomous from Left/Right
So it is 14 feet from the Alliance Station to the Switch. It takes approximately 4.5 seconds with a speed of 0.50 to go 10 feet. After reaching 10 feet, rotate left or right 45 degrees and drive forward the last 4 ft. It takes approximately 2.5 seconds with a speed of 0.50 to go the last 4 feet (I think it would be better after rotating to use the rangefinder to stop us at the Switch instead of timed drive forward).

Autonomous from Middle
We drive forward for 1 second, rotate 90 degrees, and then drive forward 7 feet (distance from back of the bot to the end of the plate on the Switch) which takes approximately 3.8 seconds with a speed of 0.50. We then use the targeting angle to get centered with the plate. Lastly, we drive forward until rangefinder stops us and then release the box. (All times in autonomous are changeable in the SmartDashboard except for the drive forward 1 second in AutonomousFromMiddle CommandGroups since it will be a constant)

AUTOLINE
The AUTOLINE is 10 feet from the Alliance station, so if we're on one side and the plate we have to get to is on the other side, we will just drive straight until we get past the AUTOLINE. It takes approximately 4.5 seconds with a speed of 0.50 to cross the line.