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FTC Team 8644 The Brainstormers Robot Reveal Video Featuring Autonomous Cube Alignment 5 Glyph Autonomous Fast Relic with Auto-Distance and Auto-Align grabber Auto Correction of 45-Degree Glyphs 583 Solo Score (Double Cipher Double Relic and 5 Glyph Auto) See • FTC Relic Recovery: Cipher and Relic ... for an early-season version of this robot When we learned that we would be in the opposite Worlds division from our friends in NH, we knew we had to get 5-glyph auto working somewhat reliably, and hope that they only get 4 glyphs sometimes instead of their max of 6: After David got the 3 omni-wheel e4t encoders installed, August and Mark finished the position-tracking software. David then spent his entire April break writing entirely new and much more accurate autonomous functions for turn, drive-to-xy-position, and collection, along with many fallback algorithms to detect and handle some of the encoders failing. We also switched to driving forward/backward off the balancing stone instead of strafing: we lost OpenCV glyph detection and judging points, but gained much more accurate and fast encoder-only cryptobox alignment. After all that, making the 5-glyph autonomous work was much easier than all our previous attempts at multi-glyph auto.