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test stuff for bakary lib

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ary 2023-10-16 18:24:52 -04:00
parent 4b04df899b
commit 68cd006814
1 changed files with 21 additions and 7 deletions
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28
RELENTLESS-Lite/src/autons.cpp
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@ -12,12 +12,20 @@ const int DRIVE_SPEED = 110;
const int TURN_SPEED = 101.5;
const int SWING_SPEED = 101.5;
void swingOther(void* p) {
chassisLeft.initialize();
chassisLeft.set_swing_pid(LEFT_SWING, 180, SWING_SPEED);
}
bool taskSwing = true;
pros::Task swing_other(swingOther);
void swingAsync() {
while (true) {
if (taskSwing) {
chassisRight.set_swing_pid(ary::RIGHT_SWING, 60, -SWING_SPEED);
pros::delay(10);
taskSwing = false;
}
pros::delay(10);
}
}
pros::Task swingTask(swingAsync);
void default_constants() {
chassisRight.set_slew_min_power(80, 80);
@ -118,6 +126,12 @@ void test_second() {
}
void arc_testing() {
chassisRight.set_swing_pid(RIGHT_SWING, 180, SWING_SPEED);
swing_other.resume();
while (true) {
if (!taskSwing) {
chassisRight.set_swing_pid(ary::LEFT_SWING, 45, 110);
pros::delay(10);
taskSwing = true;
}
pros::delay(10);
}
}