From 244afea916994117874e432b5527c6fdac4fa5e5 Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Fri, 1 Dec 2023 09:19:47 -0500
Subject: [PATCH] reimplement autons

- this is to be rewritten since the creation of the motorized intake
---
 CLOUDS/include/autons.hpp |   7 +++
 CLOUDS/src/autons.cpp     | 109 ++++++++++++++++++++++++++++++++++++++
 2 files changed, 116 insertions(+)
 create mode 100644 CLOUDS/include/autons.hpp
 create mode 100644 CLOUDS/src/autons.cpp

diff --git a/CLOUDS/include/autons.hpp b/CLOUDS/include/autons.hpp
new file mode 100644
index 0000000..cd0edd9
--- /dev/null
+++ b/CLOUDS/include/autons.hpp
@@ -0,0 +1,7 @@
+#pragma once
+
+#include "main.h"
+
+void near_side();
+void far_side();
+void skills();
\ No newline at end of file
diff --git a/CLOUDS/src/autons.cpp b/CLOUDS/src/autons.cpp
new file mode 100644
index 0000000..12da81e
--- /dev/null
+++ b/CLOUDS/src/autons.cpp
@@ -0,0 +1,109 @@
+#include "main.h"
+#include <stdlib.h>
+
+using namespace globals;
+using namespace superstruct;
+
+/*
+  To run when our robot is starting on the far side from our alliance zone
+  /
+  close to our alliance goal.
+*/
+void near_side() {
+  // Score the triball preload
+  
+  // INTAKE PLACEHOLDER -> IN
+  driveSync(90, true);
+  turnSync(90);
+
+  // INTAKE PLACERHOLDER -> OUT
+  pros::delay(125);
+  driveSync(22, true);
+  driveSync(-19, true);
+
+  //Collect and score the back outer triball
+  turnSync(-118);
+  driveSync(50, true);
+  pros::delay(150);
+  // INTAKE PLACEHOLDER -> OUT
+  pros::delay(100);
+
+  driveSync(-28, true);
+  turnSync(75);
+
+  pros::delay(100);
+  // INTAKE PLACEHOLDER -> OUT
+  driveSync(35, true);
+  driveSync(-35, true);
+
+
+  //Gain control of third triball, use wings to score last one
+  turnSync(313);
+  driveSync(40, true);
+  pros::delay(400);
+  // INTAKE PLACEHOLDER -> IN
+  driveSync(-2, true);
+  setTurnScale(0.75);
+  turnSync(90);
+  // INTAKE PLACEHOLDER -> IN
+  wings.open();
+  driveSync(65, true);
+  wings.close();
+  driveSync(-20, true);
+}
+
+/*
+  To run when our robot is starting on the near side from our alliance zone
+  /
+  far from our alliance goal.
+*/
+void far_side() {
+  wings.open(); // Prepare for removal of match load triball
+  //toggleIntake(true); // Secure preload triball
+
+  // Drive forward to removal match load triball with wings, close wings immediately
+  driveSync(30, true);
+  wings.close();
+
+  //Score the preload
+  turnSync(40);
+  //toggleIntake(false);
+  driveSync(35, true);
+  driveSync(-10, true);
+
+  //Turn towards the elevation bar area
+  turnSync(135);
+  driveSync(90, true);
+  wings.open(); // Open our wings as they are being used to contact the bar
+  turnSync(120);
+}
+
+void skills() {
+  //toggleIntake(true);
+  driveSync(30, true);
+  //toggleIntake(false);
+  turnSync(45);
+  driveSync(35, true);
+  driveSync(-35, true);
+  turnSync(-60);
+  driveSync(10, true);
+  wings.open();
+
+  togglePto(true);
+  pros::delay(100);
+  timer.reset();
+  while (timer.getElapsedTimeMS() < 35000) {
+    motor_trb.move_voltage(-12000);
+  }
+  motor_trb.move_voltage(0); // i hate my life
+  togglePto(false);
+
+  wings.close();
+
+  driveSync(-35, true); 
+  turnSync(10);
+  driveSync(-40, true);
+  turnSync(45);
+  driveSync(125, true);
+  //turnSync();
+}
\ No newline at end of file