Code_TODO

NOW
	Make it so it actually workz

LATER

MOUNT ENCODERS
Mount them.

Encoder functionality:
	When going over the ramparts check encoder values and adjust speed,
	bind this to a button to make going over ramparts smooth. (suggested by
	drivers)
	
SENSORS
Decide what we're going to do in autonomous and how
	Vision Processing:
		high goal
	Gyro:
		Common consensus is that this is better than compass,  
	Accelerometer:
		measures acceleration
	Encoder:
		Detects motor rotations, when used alone would require no moments
		or minimal moments of air time in order to get an accurate encoder
		reading, cannot be moved off course (ramps, other bots), 
		absolute path only.
	Compass:
		Easily interfered with by magnetic fields of motors, electronics
		and metal but provides direction if working
	Rangefinder:
		Detects distance from object to sensor
	Hall Effect Sensor:
		magnet in shooters with sensor to detect rpm, possible seperate class?
	
DRIVER CONTROL
Decide whether to have 2 drivers or not
Have safe-fire position button:
	Uses sensors to determine if a shot at the current position will make it into the
	high goal, if not may re-adjust, could also be incorporated with safe mode
Have safe-mode:
	Makes sure robot accelerates at a safe speed and doesn't get tipped
	over when attempting turns and changing from full speed fwd to bkwd
	toggled with button (driver may need to utilize acceleration fully
	for certain situations)
Decide which one of these to do: 
	A: Have cubed, squared, mono, dead zones
	B: Have toggled motor limits (e.g. hold button and reduce motor speed)
	C: Have button that switches between these 2 modes
Talk to Dylan/Peter (may change) to get better controls.
	
Autonomous Ideas
It is an equal net result if you cross a defense in auto (+10) instead of tele-op (+5)
net value +5, than if you score a goal in high goal in auto(+10) than in tele-op(+5)
net value +5, you can also cross defenses much faster + with less error, +more than once.
Final decision is CAN we score 8 balls in the goal AND penetrate all defenses giving us
max RP, can we do it without screwing up? 

ONLY 15seconds

	Rangefinder & Encoder :: pref defense with minimal course displacement :: 
		follows absolute path over
		one defense [potential course displacement] and measures distance 
		from opponent's castle (not tower) adjusts based on value, 
		turns and goes up batter [PCD: could turn wheels] makes sure rangefinder
		sees large number (looking through hole in tower) fires, 17pts if successful
			CON: Minimal, low margin for error besides taking shot, but not efficient
				in getting points
	
	Rangefinder, Encoder, ?? : Plot the 5 selected defenses (1 fixed) in the robot's 
	pre-configured storage, robot makes decisions for which defenses to cross and in
	which order based on algorithms(success rate, error amt, turn requirement, ease), 
	minimizes error with encoders + rangefinder (longrange or detects when lateral axis
	passes shield[shortrange, in almost all aspects better]) would expect efficient use
	with cheval de frise, lowbar(definitely), ramparts(with encoder assistance), rough 
	terrain (definitely), moat(maybe [dec risk]), rock wall(maybe [dec risk]), drawbridge(no, req 2 robots), 
	sally(no, req 2 robots), portcullis(high chance), likely ~25pts (harder to do),
	potentially 20-60pts (highest level will prob do this)
		CON: DO NOT let robot tip over, DO NOT run into other robots, DO NOT get stuck
			driving into other robots/portcullis/other obstacle forcing E-Stop
			DO NOT miscalculate and run into shield, potentially damaging it (major foul)