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Stage 14: Full Sensor-Fused Autonomous

The project adds FullAutonomous.java and keeps every file built in the TeleOp stages. Earlier passing snapshots remain available for reference, copying, and export.

Opening this stage loads the same browser project automatically, appends FullAutonomous.java only when it is missing, and selects it as the runnable entry point. CompetitionTeleOp.java remains in the project unchanged, so autonomous integration never costs you the working driver-controlled program.

Your Task​

  1. Map Limelight 3A as "limelight", select its pipeline, and start it.
  2. Create a Pedro Pathing Follower and establish a starting Pose.
  3. Build a compound Pedro 3 Path with both line() and curve().
  4. Compose path and mechanism actions with an Ivy Command group.
  5. Call follower.update(), robot.update(), and Scheduler.execute() on every active loop.
  6. Validate each LLResult before using it, then fuse a valid global pose back into the Follower.
  7. Create and initialize one RobotHardware object. Call robot.update() every cycle and coordinate launcher, transfer, and intake through public subsystem methods.
  8. Keep raw mechanism hardware access inside subsystem files.
  9. Report path, state, and vision status, then call robot.stopAll(), close Vision, and stop the Limelight during cleanup.

No command may block the loop. Use Ivy's waitMs() or waitUntil() instead of sleep(). Vision loss and an active follower must both be handled as expected operating conditions.

Coding Challenge Simulator​

Telemark Unit 15 Comprehensive Coding Challenge
The editor opens your saved cumulative DECODE project and adds only the files introduced by this stage.
Use Init and Start to check every unit objective. Passing every check demonstrates full unit mastery.
Complete the stage across its file tabs. The requirement panel checks the compiled project, and a passing stage saves a read-only snapshot.

Passed every challenge check?

Mark the unit mastered to record every lesson objective and continue directly to the next unit. Your progress will be saved in this browser.

Stuck on this lesson?

Ask about anything on this page. It can see which lesson you have open and which part you are reading.