Quick example of how to write an autonomous program using PedroPathing 2.0. This program assumes your robot is lined up parallel with the BLUE goal depot, with both wheels touching.

This is set up to give you an idea of how to program an autonomous path using PedroPathing. It is not intended in it's current state to be a drag + drop code (as my robot test chassis' PIDF is likely significantly different than yours) 

There are x2 paths attached. 

1. SampleAutoPathing

(November) This is the code snipped that corresponds to the following tutorial. (Goes live on Youtube Monday, Nov 24th, but Members get early access in posts tab) 

2. PedroPathingAutoTest

(October) In this code, there are more advanced features added. all locations are ARBITRARY. They do NOT correlate presently to the actual spike markers, and are simply tests to run on the limited tiles I had at home. 

The robot will:

1. drive away from the goal
2. pause to simulate shooting
3. drive slowly towards spike mark 1
4. drive to shooting position & pause to simulate shooting
5. drive slowly toward spikemark 2
6. drive to shooting position & pause to simulate shooting
7. return to starting position

Note: you should NOT return to starting position, as you want to gain the LEAVE points for ranking points in auto. 

3 & 4. Autonomous + Actions

FlywheelExampleServo & SampleActions

How to have additonal state machines running in conjunction with your pathing state machine.