Modify third robot code at Madera.
This is the code that was running on 9971 by the end of the
copetition. It's a little kludgy, (mainly the work-arounds
for not having a gyro board), but I decided to commit it
anyway.
There were many changes, but the most important were
probably these:
- Get autonomous to actually work.
- Trick the control loop into giving the shooter 12 volts after
every shot in order to spin it back up.
- Make sure it either powers the shooter or the drivetrain
and not both, so that the shooter wheel can't run so slowly that
frisbees get stuck.
11 files changed