Once the robot enters the nest (construction area) this FSM would take
over. Assuming that the robot is aligned with the ingress lane for its chosen
construction lane, it would be responsible for:
Driving the robot up the ramp until it reaches the top or the end of the ramp
is reached.
Once the end of the lane/ramp comes in sight, performing the block placement
FSM in such a way as to guarantee no deadlocks between robots, waiting for
robots ahead of them as necessary.
Driving the robot down the structure/ramp and out of the construction zone.
Needed for #15.
Once the robot enters the nest (construction area) this FSM would take over. Assuming that the robot is aligned with the ingress lane for its chosen construction lane, it would be responsible for:
Driving the robot up the ramp until it reaches the top or the end of the ramp is reached.
Once the end of the lane/ramp comes in sight, performing the block placement FSM in such a way as to guarantee no deadlocks between robots, waiting for robots ahead of them as necessary.
Driving the robot down the structure/ramp and out of the construction zone.