This code includes an autonomous mode that worked every time in the 2011 Hawaii regional placing a tube on the high rack. The autonomous code uses the gyro and two encoders embedded in the super shifter gear boxes. The gyro (mounted in the center of the robot) keeps the robot driving straight and the right side encoder is used to measure when the robot has reached the correct distance and must stop and release the tube. 

The driving code is a standard tank drive with two logitech joysticks, one for each side of the robot. The second driver uses an xbox 360 controller that plugs easily into the USB on the classmate PC. This allows the second driver to stand more comfortably away from the main driver. But don't ever let this controller, or any others come unplugged before a match or you will have no control.. As we unfortunately found out one game in the World Championship :(. 

Our 2011 arm two encoders, one on the angle of the rear pivot, and one on the extension motor. So we could accurately place it anywhere with software control. Allowing the autonomous to work so consistently. This also allowed us to have automated "ground pickup" and "top rack" buttons on the secondary driver controller so he would not have to manually get the arm to the right location for each tube.

We first tried to have a second Xbox controller for the main driver but the little analog sticks on hand held controllers do not offer as much precision as real long throw joysticks.