Three-Branch Autonomous Structure

Organize reusable autonomous branches without tying the pattern to one season.

Module 13: Road Runner 1.0 Actions and AutonomousRoad Runner

In this lesson, you will:

01Split paths by branch.
02Reuse mechanism actions.
03Keep selection readable.

Concept narrative

A three-branch autonomous combines vision selection, several path options, and mechanism actions. The organization matters as much as the path math.

Robot mental model

The robot should have a small menu of tested routines rather than a giant method full of copied path code. Common actions should be reused.

Implementation walkthrough

Create branch builders, common score/park actions, and one selector. Keep each path named for field intent.

CenterstageAuto.javaJava

Action selected = switch (propPosition) {
    case LEFT -> leftBranchPath();
    case RIGHT -> rightBranchPath();
    default -> centerSpikePath();
};
Actions.runBlocking(new SequentialAction(selected, score(), park()));

Common mistakes and debugging

Copied paths drift apart. If one branch is fixed and others are not, the code becomes unreliable. Extract shared pieces.

Checkpoint

Common actions are reused.
Branch names match field intent.
Default branch is safe.
The test record includes the setup, prediction, and observed result.
A teammate can repeat the check from the saved evidence without guessing.

Reflection check

Check your understanding before moving on.

Which result best demonstrates completion of “Three-Branch Autonomous Structure”?

Why record the test setup, prediction, and observed result?

0 of 2 answered

References

Road Runner CENTERSTAGE Auto GuideFull autonomous organization using actions and trajectories.Road Runner 1.0 ActionsAction composition, custom actions, and autonomous structure.