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AUTONS

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ary 2023-11-06 20:02:11 -05:00
parent b8efdc8e10
commit 28dc7ea7eb
4 changed files with 35 additions and 31 deletions
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2
HVN-ON-EARTH/include/superstructure.hpp
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@ -1,7 +1,7 @@
#include "main.h" #include "main.h"
#define DRIVE_SPEED 110 #define DRIVE_SPEED 110
#define TURN_SPEED 90 #define TURN_SPEED 127
#define SWING_SPEED 90 #define SWING_SPEED 90
// R1 -> WINGS, L1 -> CATA, L2 -> PTO, R2 -> INTAKE // R1 -> WINGS, L1 -> CATA, L2 -> PTO, R2 -> INTAKE
// Renu's control preferences // Renu's control preferences

52
HVN-ON-EARTH/src/autons.cpp
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@ -21,26 +21,38 @@ using namespace superstruct;
void near_side() { void near_side() {
// Score the triball preload // Score the triball preload
toggleIntake(true); toggleIntake(true);
driveSync(100, true); driveSync(90, true);
turnSync(90); turnSync(90);
toggleIntake(false); toggleIntake(false);
pros::delay(50); pros::delay(50);
driveSync(22, true); driveSync(22, true);
driveSync(-22, true); driveSync(-19, true);
turnSync(-120); turnSync(-118);
driveSync(48.5, true); driveSync(50, true);
pros::delay(150); pros::delay(150);
toggleIntake(true); toggleIntake(true);
pros::delay(100); pros::delay(100);
driveSync(-35, true); driveSync(-35, true);
turnSync(90); turnSync(75);
pros::delay(100); pros::delay(100);
toggleIntake(false); toggleIntake(false);
driveSync(55, true); driveSync(35, true);
driveSync(-20, true);
turnSync(300);
driveSync(50, true);
pros::delay(400);
toggleIntake(true);
driveSync(-31, true);
turnSync(90);
toggleIntake(false);
wings.open();
driveSync(50, true);
wings.close();
driveSync(-20, true); driveSync(-20, true);
//driveSync(100, true); //driveSync(100, true);
@ -49,32 +61,24 @@ void near_side() {
void far_side() { void far_side() {
toggleIntake(true); toggleIntake(true);
driveSync(100, true); wings.open();
turnSync(-90);
toggleIntake(false);
pros::delay(250);
driveSync(31, true);
driveSync(-30, true);
turnSync(-160);
driveSync(125, true);
pros::delay(1000); pros::delay(1000);
driveSync(-35, true); turnSync(-180);
turnSync(55);
driveSync(70, true);
} }
// void far_side() {
// driveSync(20, true);
// rightSwing(25);
// chassis.wait_drive();
// }
void skills() { void skills() {
} }
void test_seq() { void test_seq() {
driveSync(10, true); driveSync(20, true);
turnSync(90);
turnSync(90);
} }
void odom_test() { void odom_test() {

2
HVN-ON-EARTH/src/main.cpp
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@ -65,7 +65,7 @@ void autonomous() {
} }
void opcontrol() { void opcontrol() {
Gif gif(chip_gif, lv_scr_act()); //Gif gif(chip_gif, lv_scr_act());
opControlInit(); // Configure the chassis for driver control opControlInit(); // Configure the chassis for driver control
while (true) { while (true) {

10
HVN-ON-EARTH/src/superstructure.cpp
View File

@ -37,8 +37,8 @@ namespace superstruct {
chassis.set_joystick_drivescale(1.0); chassis.set_joystick_drivescale(1.0);
chassis.set_joystick_turnscale(1.0); chassis.set_joystick_turnscale(1.0);
chassis_odom.calibrate(); // chassis_odom.calibrate();
chassis_odom.setPose(0, 0, 0); // chassis_odom.setPose(0, 0, 0);
} }
void telemetry() { void telemetry() {
@ -68,9 +68,9 @@ namespace superstruct {
chassis.set_slew_min_power(80, 80); chassis.set_slew_min_power(80, 80);
chassis.set_slew_distance(7, 7); chassis.set_slew_distance(7, 7);
chassis.set_pid_constants(&chassis.headingPID, 16, 0, 32, 0); chassis.set_pid_constants(&chassis.headingPID, 16, 0, 32, 0);
chassis.set_pid_constants(&chassis.forward_drivePID, 0.55, 0, 5, 0); chassis.set_pid_constants(&chassis.forward_drivePID, 0.5, 0, 5, 0);
chassis.set_pid_constants(&chassis.backward_drivePID, 0.55, 0, 5, 0); chassis.set_pid_constants(&chassis.backward_drivePID, 0.5, 0, 5, 0);
chassis.set_pid_constants(&chassis.turnPID, 6.5, 0.003, 35, 15); chassis.set_pid_constants(&chassis.turnPID, 6.25, 0.003, 57, 15);
chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0); chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0);
} }