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auton stuff

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ary 2023-09-16 21:34:30 -04:00
parent c2ccc7b7ff
commit 494c8c3338
1 changed files with 10 additions and 3 deletions
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13
RELENTLESS-Lite/src/autons.cpp
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@ -35,11 +35,18 @@ void exit_condition_defaults() {
void test_auton() { void test_auton() {
chassis.set_drive_pid(48, DRIVE_SPEED, true, true); chassis.set_drive_pid(48, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassis.wait_drive();
chassis.set_turn_pid(-45, TURN_SPEED); chassis.set_turn_pid(-65, TURN_SPEED);
chassis.wait_drive(); chassis.wait_drive();
chassis.set_drive_pid(48, DRIVE_SPEED, true, true); chassis.set_drive_pid(60, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassis.wait_drive();
chassis.set_drive_pid(-10, DRIVE_SPEED, false, true); chassis.set_drive_pid(-10, DRIVE_SPEED, false, true);
chassis.wait_drive(); chassis.wait_drive();
chassis.set_turn_pid(90, TURN_SPEED); chassis.set_turn_pid(57, TURN_SPEED);
chassis.wait_drive();
chassis.set_drive_pid(48, DRIVE_SPEED, true, true);
chassis.wait_drive();
chassis.set_swing_pid(LEFT_SWING, 80, SWING_SPEED);
chassis.wait_drive();
chassis.set_drive_pid(2, DRIVE_SPEED, false, true);
chassis.wait_drive();
} }