Merge pull request #23 from DeepBlueRobotics/aaa-reference.md

add aaa-reference.md

Author: lhmcgann

Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/aaa-reference.md

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+# Synopsis
+
+AAA is a simple, pseudo-assembly, interpreted language. 
+
+Individual path scripts start with a name + a colon and end with the next script,the end command, or the end of the file. Each command occupies one line, and anything on a line past a pound sign is ignored.
+
+The language should be able to be converted into either PID + turns or motion profiling commands.
+
+Distance arguments are in inches, rotation in arc degrees. All numbers can have a floating point.
+
+Ex:
+```
+1 | LLRx:
+2 | wait 5  # wait for other robots to move past
+3 | move (12,24) (30,48.5) 125.75 # move to those points and turn 
+4 | scale # place cube in scale
+5 | end # end the script (not necessary)
+```
+
+# Script Naming Convention
+
+The 4 characters represent 4 values. All paths include crossing the baseline at some point.
+
+1. Robot's start position. 
+    * R = right, C = center, L = left.
+2. Switch information. 
+    * R = going for the right plate, L = going for the left plate, x = not going for switch
+3. Scale information. 
+    * R = going for the right plate, L = going for the left plate, x = not going for scale
+4. Exchange. 
+    * E = going for the exchange, x = not going for exchange
+
+Ex:
+  
+**LLRx**: starting on the left, go for the switch's left plate and then the scale's right plate. don't go for the exchange.  
+**Cxxx**: starting in the center, just cross the baseline. don't go for the exchange.  
+**LxRx**: starting on the left, go for the scale's right plate. don't go for the exchange.  
+**RLxE**: starting on the right, go for the switch on the left, and then go for the exchange.  
+
+
+# Instruction Reference
+
+<!-- Sorry about how ugly the table is, it's either this or gigantic spacing that also looks ugly if you have word wrap - @kevinzwang -->
+
+| Name | Description | Example Usage |
+| --- | --- | ---|
+| end | End the script. Anything after will be ignored. | `end` |
+| exchange | Feeds a cube at exchange height. | `exchange` |
+| intake | Intakes a cube in front of the robot. | `intake` |
+| jump | Jumps to the specified script and continues the current script when finished. (Doesn’t make the robot go up.) | `jump MoveToRScale`
+| move | Move forward or backwards for the specified amount in inches, relative to the current position. | `move 24` |
+| moveto | Move to 1 or more points, sequentially, with an optional last value having a final angle to face towards, all relative to the starting position. | `moveto (12,0) (36,12)` <br> `moveto (0,12) 90` |
+| scale | Place a cube at scale height. | `scale` |
+| switch | Place a cube at switch height. | `switch` |
+| turn | Turn towards a relative point or rotate clockwise by an angle in degrees, relative to the current position. <br> Negative angle for counterclockwise. | `turn (36,48)` <br> `turn 45` |
+| wait | Waits for the number of seconds before proceeding to next command. | `wait 5` |