# Tasks

![Trails and Waypoints are Single event tasks](/files/lPLLuJ2klFa40kdlrQNq)

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](/files/sFa48uqvYVwXGxr2C0zF)

### 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.

![](/files/raX6um9ClOYY85Paek5a)

{% 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.

![](/files/VRZqBX6LbzTxhUg8ngy4)

{% 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;

![](/files/hOGmT6aFzyqh56lpvgUM)

## 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.

![](/files/juX9384PrzDZ6SbFn3XB)

{% 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 %}


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