El Escorpion!

The Robot for the 2010 competition has to do the following to achieve its goal:

• in autonmousInit
  • findZone()
  • if zone 1 then find one ball
  • else if zone 2 then find 2 balls
  • else if zone 3 then find 3 balls
• in Autonomous
  • if balls to find >0
  • find target
  • or
  • find soccer ball
  • acquire ball (move to grab ball)
  • if ball acquired
    • align to kick
  • if ball acquired & In line to target
    • kick ball (getCurrentZone)
    • decrease find balls left
  • else if no ball left
    • then move to center but don’t cross line.
• in teleOperated
  • listen to Driver
  • in normal game
    • find target
    • or
    • find soccer ball
    • acquire ball (move to grab ball)
    • if ball aquired
      • align to kick
    • if ball aquired && In Line to target
      • kick ball (getCurrentZone)
  • in last 20 secs
    • alert driver
    • find aliance tower(listen to driver)
    • release arm
    • if (arm is release)
      • listen to driver to activate winch
• kick()
  • find Zone()
  • if zone 1
    • kick to score
  • else if zone 2
    • kick medium
  • else if zone 3
    • kick far
• moveRobot(direction)
  • direction FR,FF,FL,BR,BB, or BL, or stop
• moveJoyStick(Joystick X, Joystick Y)