That-One-Nerd/ary-over-under
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some notes

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ary 2023-11-10 02:22:20 -05:00
parent 648e876f01
commit 7c3b025969
1 changed files with 25 additions and 8 deletions
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31
HVN-ON-EARTH/src/autons.cpp
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@ -18,6 +18,11 @@ using namespace superstruct;
chassis.wait_until(double measurement) -> Waits for the drivetrain to reach a certain measurement before performing the next task. chassis.wait_until(double measurement) -> Waits for the drivetrain to reach a certain measurement before performing the next task.
*/ */
/*
To run when our robot is starting on the far side from our alliance zone
/
close to our alliance goal.
*/
void near_side() { void near_side() {
// Score the triball preload // Score the triball preload
toggleIntake(true); toggleIntake(true);
@ -29,6 +34,7 @@ void near_side() {
driveSync(22, true); driveSync(22, true);
driveSync(-19, true); driveSync(-19, true);
//Collect and score the back outer triball
turnSync(-118); turnSync(-118);
driveSync(50, true); driveSync(50, true);
pros::delay(150); pros::delay(150);
@ -43,6 +49,8 @@ void near_side() {
driveSync(35, true); driveSync(35, true);
driveSync(-35, true); driveSync(-35, true);
//Gain control of third triball, use wings to score last one
turnSync(313); turnSync(313);
driveSync(40, true); driveSync(40, true);
pros::delay(400); pros::delay(400);
@ -52,26 +60,35 @@ void near_side() {
turnSync(90); turnSync(90);
toggleIntake(false); toggleIntake(false);
wings.open(); wings.open();
driveSync(55, true); driveSync(65, true);
wings.close(); wings.close();
driveSync(-20, true); driveSync(-20, true);
//driveSync(100, true);
} }
/*
To run when our robot is starting on the near side from our alliance zone
/
far from our alliance goal.
*/
void far_side() { void far_side() {
wings.open(); wings.open(); // Prepare for removal of match load triball
toggleIntake(true); toggleIntake(true); // Secure preload triball
// Drive forward to removal match load triball with wings, close wings immediately
driveSync(30, true); driveSync(30, true);
wings.close(); wings.close();
//Score the preload
turnSync(40); turnSync(40);
toggleIntake(false); toggleIntake(false);
driveSync(35, true); driveSync(35, true);
driveSync(-10, true); driveSync(-10, true);
//Turn towards the elevation bar area
turnSync(135); turnSync(135);
driveSync(90, true); driveSync(90, true);
wings.open(); wings.open(); // Open our wings as they are being used to contact the bar
turnSync(120); turnSync(120); // Turn slightly to guarantee contact
} }
void skills() { void skills() {