That-One-Nerd/ary-over-under
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update something or something

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ary 2023-09-27 10:21:51 -04:00
parent fdce6c75c7
commit 575f79648a
2 changed files with 4 additions and 30 deletions
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30
RELENTLESS/src/autons.cpp
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@ -7,37 +7,7 @@
using namespace globals;
using namespace superstruct;
// **CONSTANTS** //
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);
}
//pros::task_t intakeTask(run_intake_for, (void*) malloc(sizeof(double)), TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "runIntakeFor");

4
RELENTLESS/src/superstructure.cpp
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@ -34,18 +34,22 @@ namespace superstruct {
// motion and stuff
void driveChassis(double dist, double speedScale, bool useHeadingCorrection) {
//chassis.set_mode(ary::DRIVE);
chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection);
}
void turnChassis(double theta, double turnSpeedScale) {
//chassis.set_mode(ary::TURN);
chassis.set_turn(theta, TURN_SPEED * turnSpeedScale);
}
void leftSwing(double theta, double swingSpeedScale) {
//chassis.set_mode(SWING);
chassis.set_swing(LEFT_SWING, theta, SWING_SPEED * swingSpeedScale);
}
void rightSwing(double theta, double swingSpeedScale) {
//chassis.set_mode(SWING);
chassis.set_swing(RIGHT_SWING, theta, SWING_SPEED * swingSpeedScale);
}
}