We tuned the teleop so it would work with our new Actobotics robot, and tuned autonomous as well. We also implemented the new joystick scaling algorithm using the formula , where t_0 is the original throttle and t_f is the final throttle.
Here is a graph of the output throttle:
We also simplified the autonomous to only use one beacon pushing servo instead of two using the design on our new robot. Aside from tweaking some servo/encoder values, we also started to write a few backup autonomous programs that only shoot balls into the center vortex, in case our partner can push the beacons better than we can.
Finally, we started writing our Control Award application sheet documenting the development of our autonomous.
12/29/16 Software