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Basic Auto
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.. contents:: 
   :local:
   :depth: 2

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Basic Auto
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We will create a simple autonomous routine that moves our robot off the starting line, thereby scoring the autonomous points. The strategy is to activate the motors so they run for 3 seconds at 60% speed. Let's begin with our `Timed Skeleton (Advanced)` project. Type the relevant lines within the `autonomousPeriodic()` function:


.. code:: java
  :number-lines:

  @Override
  public void autonomousPeriodic() {
    double time = Timer.getFPGATimestamp();

    if (time - startTime < 3) {
        leftMotor1.set(0.6);
        leftMotor2.set(0.6);
        rightMotor1.set(-0.6);
        rightMotor2.set(-0.6);
    } else {
        leftMotor1.set(0);
        leftMotor2.set(0);
        rightMotor1.set(0);
        rightMotor2.set(0);
    }
  }


However, this code will not work as intended. This is because the `Timer.getFPGATimestamp()` function returns the number of seconds elapsed *since the robot was powered on*. To accurately measure the time elapsed since the start of the autonomous period, we need to modify our code as follows:

.. code:: java
  :number-lines:

  public class Robot extends TimedRobot {

    private double startTime;

    @Override
    public void autonomousInit() {
      startTime = Timer.getFPGATimestamp();
    }

    @Override
    public void autonomousPeriodic() {
      double time = Timer.getFPGATimestamp();
      System.out.println(time - startTime);
      
      if (time - startTime < 3) {
        leftMotor1.set(0.6);
        leftMotor2.set(0.6);
        rightMotor1.set(-0.6);
        rightMotor2.set(-0.6);
      } else {
        leftMotor1.set(0);
        leftMotor2.set(0);
        rightMotor1.set(0);
        rightMotor2.set(0);
      }
    }

  }


See more
-----------------------

- FRC 0 to Autonomous: #1 Arcade drive + auto-line (YouTube) <https://www.youtube.com/watch?v=ihO-mw_4Qpo>