Appendix B (Robot Skills) states:
What is the definition of “entirely driver controlled”? Consider the following situations.
I have a Programming Skills program that can score every tube with 10 seconds to spare. For Robot Skills I run that program, but add an addendum that gives the driver control at the end of the match so that i can go pick up a tube that may have fallen off or missed.
I find out that situation 1 is illegal, so I decide to break it down into large chunks that are activated by the driver. (a “chunk” would be like [move to next position and pick up stack of tubes])
The driver invokes all actions, but some actions are scripted (ie. when button 6U is pressed, the arm raises to the correct height and opens the clasp)
An arm has a limited number of preset positions so that the driver does not have to align it to the proper height manually.
Which of these scenarios would be considered legal?