From 36eeaac75acd16b0ce431c22d229a016c03a1ded Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Sat, 9 Sep 2023 11:49:22 -0400
Subject: [PATCH] fix a couple things lmfao

---
 RELENTLESS/include/autons.hpp |  8 ++++++
 RELENTLESS/src/autons.cpp     | 49 +++++++++++++++++++++++++++++++++++
 2 files changed, 57 insertions(+)

diff --git a/RELENTLESS/include/autons.hpp b/RELENTLESS/include/autons.hpp
index e69de29..07d05af 100644
--- a/RELENTLESS/include/autons.hpp
+++ b/RELENTLESS/include/autons.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+#include "ary-lib/drive/drive.hpp"
+
+void test_auton();
+
+void default_constants();
+void exit_condition_defaults();
\ No newline at end of file
diff --git a/RELENTLESS/src/autons.cpp b/RELENTLESS/src/autons.cpp
index e69de29..23fa2c8 100644
--- a/RELENTLESS/src/autons.cpp
+++ b/RELENTLESS/src/autons.cpp
@@ -0,0 +1,49 @@
+#include <stdlib.h>
+
+#include "main.h"
+#include "globals.hpp"
+#include "superstructure.hpp"
+
+using namespace globals;
+using namespace superstruct;
+
+// **CONSTANTS** //
+const int DRIVE_SPEED = 110;
+const int TURN_SPEED  = 90;
+const int SWING_SPEED = 90;
+
+void default_constants() {
+  chassis.set_slew_min_power(80, 80);
+  chassis.set_slew_distance(7, 7);
+  chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
+  chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.turnPID, 4, 0.003, 35, 15);
+  chassis.set_pid_constants(&chassis.swingPID, 6, 0, 40, 0);
+}
+
+void exit_condition_defaults() {
+  chassis.set_exit_condition(chassis.turn_exit, 100, 3, 500, 7, 500, 500);
+  chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);
+  chassis.set_exit_condition(chassis.drive_exit, 80, 50, 300, 150, 500, 500);
+}
+
+// ** other stufff** //
+
+// ** AUTONS ** //
+
+void test_auton() {
+    chassis.set_drive_pid(5, DRIVE_SPEED, false, true);
+    chassis.set_swing_pid(e_swing::LEFT_SWING, 50, TURN_SPEED);
+    chassis.set_drive_pid(36, DRIVE_SPEED, true, true);
+    chassis.wait_until(24);
+    /* RUN THE INTAKE */
+    pros::delay(500);
+    chassis.set_drive_pid(-2, DRIVE_SPEED, false, false);
+    chassis.set_turn_pid(130, TURN_SPEED);
+    
+
+    // finishing the base what the heck is wrong 
+
+  //pros::task_t intakeTask(run_intake_for, (void*) malloc(sizeof(double)), TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "runIntakeFor");
+}
\ No newline at end of file