fix timer logic and everything inbetween

HVN-ON-EARTH/include/ary-lib/api.hpp

@@ -11,5 +11,4 @@ file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #include "ary-lib/auton_selector.hpp"
 #include "ary-lib/drive/drive.hpp"
 #include "ary-lib/autonselector.hpp"
-#include "ary-lib/util.hpp"
+#include "ary-lib/util.hpp"
-#include "ary-lib/Timer.h"

HVN-ON-EARTH/include/autons.hpp

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "ary-lib/drive/drive.hpp"
+#include "main.h"
 
 void near_side();
 void far_side();

HVN-ON-EARTH/include/globals.hpp

@@ -2,6 +2,7 @@
 
 #include "main.h"
 #include "Wings.h"
+#include "Timer.h"
 
 #define TRACK_WIDTH 11.5
 #define PLACEHOLDER_TC_OFFSET 2.5
@@ -44,9 +45,10 @@ namespace globals {
 
     extern pros::ADIDigitalOut intake_piston;
 
-    extern pros::ADIDigitalOut doinker_piston;
+    extern pros::ADIDigitalOut climb_piston;
 
     extern Wings wings;
+    extern Timer timer;
 
     extern lemlib::TrackingWheel vert_tracking_wheel;
     extern lemlib::TrackingWheel horiz_tracking_wheel;

HVN-ON-EARTH/include/main.h

@@ -46,6 +46,7 @@
 #include "superstructure.hpp"
 #include "autons.hpp"
 #include "wings.h"
+#include "Timer.h"
 
 #include "asset.h"
 #include "gif-pros/gifclass.hpp"

HVN-ON-EARTH/include/superstructure.hpp

@@ -11,6 +11,7 @@
 #define RENU_LEFT_WING_CONTROL DIGITAL_LEFT
 #define RENU_RIGHT_WING_CONTROL DIGITAL_RIGHT
 #define RENU_WING_CONTROL DIGITAL_L2
+#define RENU_CLIMB_CONTROL DIGITAL_A
 
 // Ria's control preferences
 #define RIA_PTO_TOGGLE DIGITAL_LEFT
@@ -50,13 +51,14 @@ namespace superstruct {
 
     //- Structure methods
     void intakeControl(pros::controller_digital_e_t intakeButton);
-    void togglePto();
+    void togglePto(bool toggle);
     void runCata(double inpt);
     void runAntiBlock(double inpt);
     void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton);
     void wingsControl();
     void wingsControlSingle(pros::controller_digital_e_t wingControlButton);
     void wingsControlComplex(pros::controller_analog_e_t leftWingButton, pros::controller_analog_e_t rightWingButton, pros::controller_analog_e_t wingButton);
+    void climbControl(pros::controller_digital_e_t climbButton);
 
     //More methods
     void toggleIntake(bool val);

HVN-ON-EARTH/src/Timer.cpp

@@ -1,4 +1,5 @@
-#include "ary-lib/Timer.h"
+#include "main.h"
+#include "Timer.h"
 
 Timer::Timer() {
     start = pros::millis();

HVN-ON-EARTH/src/autons.cpp

@@ -75,7 +75,7 @@ void far_side() {
   toggleIntake(true); // Secure preload triball
 
   // Drive forward to removal match load triball with wings, close wings immediately
-  driveSync(30, true); 
+  driveSync(30, true);
   wings.close();
 
   //Score the preload
@@ -101,4 +101,14 @@ void skills() {
   turnSync(-60);
   driveSync(10, true);
   wings.open();
+
+  togglePto(true);
+  timer.reset();
+  while (timer.getElapsedTimeMS() < 30000) {
+    runCata(-12000);
+  }
+  runCata(0);
+  togglePto(false);
+
+  wings.close();
 }

HVN-ON-EARTH/src/globals.cpp

@@ -37,9 +37,10 @@ namespace globals {
 
     pros::ADIDigitalOut intake_piston('D');
 
-    //pros::ADIDigitalOut doinker_piston('E');
+    pros::ADIDigitalOut climb_piston('B'); 
 
     Wings wings;
+    Timer timer;
 
     pros::Imu inertial_sensor(18);
 

HVN-ON-EARTH/src/superstructure.cpp

@@ -221,13 +221,26 @@ namespace superstruct {
 
     if (globals::master.get_digital(DIGITAL_UP)) {
       runAntiBlock(-12000);
-    } else if (globals::master.get_digital(DIGITAL_UP)) {
+    } else if (globals::master.get_digital(DIGITAL_LEFT)) {
       runAntiBlock(12000);
     } else {
       runAntiBlock(0);
     }
   }
 
+  int climb_state = 0;
+  void climbControl(pros::controller_digital_e_t climbButton) {
+    if (globals::master.get_digital_new_press(climbButton)) {
+      if (climb_state == 0) {
+        climb_piston.set_value(1);
+        climb_state = 1;
+      } else if (climb_state == 1) {
+        climb_piston.set_value(0);
+        climb_state = 0;
+      }
+    }
+  }
+
   void wingsControlSingle(pros::controller_digital_e_t wingControlButton) {
     if (globals::master.get_digital_new_press(wingControlButton)) {
       if (wings.getState() == 0) // A value of 0 indicates that both wings are closed
@@ -255,6 +268,7 @@ namespace superstruct {
     subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
     wingsControlSingle(RENU_WING_CONTROL);
     intakeControl(RENU_INTAKE_CONTROL);
+    climbControl(RENU_CLIMB_CONTROL);
   }
   
   void ria_control() {