# Tasks

![Trails and Waypoints are Single event tasks](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MkBtlBrwlCbBifOLd-h-887967055%2Fuploads%2FZPAg90gnf5dAQooXAMMQ%2Fimage.png?alt=media\&token=1162bfe2-322c-45e8-a917-645b92f8dc17)

There are only two types of tasks in Seirios RNS;

* **Trail :** where robot will follow the generated lines closely (will not deviate outside). When faced with obstacles, robot will stop until obstacles are removed.
* **Waypoints:** where robot will not follow the lines and obstacles will be dynamically avoided (unless setting is toggled to stop-at-obstacle)

## Trails

### Teleop Trail

In this mode, users are required to Mark each point and a **line will be generated between points.** 

![Lines will be generated between marked points](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MkBtlBrwlCbBifOLd-h-887967055%2Fuploads%2FjuQ5fTBpm61uka5zKCa0%2Fimage.png?alt=media\&token=065d1f30-ed6d-4015-b42b-d77daeb1a8ee)

### Mark Trail

Similar to `Teleop Trail`, instead of moving the robot to mark, use the on-screen marker to drop points. Lines will be generated automatically.

![](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MkBtlBrwlCbBifOLd-h-887967055%2Fuploads%2F3yQ69699HJ4mHUPr141h%2FApr-13-2022%2014-03-47.gif?alt=media\&token=6ab1f6b3-acf5-46ed-8b5f-6f01e3fe10ca)

{% hint style="danger" %}
The **orientation** is automatically defined after your next point is marked. Otherwise, use the WASD or analog controls to change the orientation
{% endhint %}

### Zone

The Zone feature can automatically generate points (trail style) in a specified area.

![](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MkBtlBrwlCbBifOLd-h-887967055%2Fuploads%2FgdLdkfXGpE7NuN8ed6Rh%2FApr-13-2022%2016-00-26.gif?alt=media\&token=d70f09ad-8261-42af-88f6-ba28a490c559)

{% hint style="info" %}
Robot will execute generated points in trail style - obstacles will not be avoided and will follow exactly the line that is generated
{% endhint %}

{% hint style="info" %}
You will require a minimum of 3 points to save a zone
{% endhint %}

The generated zone will look like this, where points will be generated close to each other;

![](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MkBtlBrwlCbBifOLd-h-887967055%2Fuploads%2FUmrvyxalvW7Nm8ir38uS%2Funnamed.png?alt=media\&token=bd63fbd6-3cf3-43bb-81f4-6fd0a8df9c67)

## Waypoints

Waypoints are similar to `Mark Trail` where the only difference is that the robot **does not** follow the generated line closely. Obstacles will be avoided as the robot navigates in its environment.

![](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MkBtlBrwlCbBifOLd-h-887967055%2Fuploads%2FVQtoJAw27rJMP4twnOwq%2Fimage.png?alt=media\&token=7acf9efe-1091-4901-a565-e890219607c9)

{% hint style="info" %}
If you are only marking one point, change the orientation of the pose with either your keyboard or the analog controls
{% endhint %}