From 8329ff34f289097ea1a1d8dde60a23d241a53b27 Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Sat, 28 Oct 2023 16:30:47 -0400
Subject: [PATCH] motion profile testing auton

updated
autons.hpp/cpp
main.cpp

added motion profile testing auton
---
 RELENTLESS-Lite/include/autons.hpp |  2 +-
 RELENTLESS-Lite/src/autons.cpp     | 11 ++---------
 RELENTLESS-Lite/src/main.cpp       |  2 +-
 3 files changed, 4 insertions(+), 11 deletions(-)

diff --git a/RELENTLESS-Lite/include/autons.hpp b/RELENTLESS-Lite/include/autons.hpp
index a7ed948..db27605 100644
--- a/RELENTLESS-Lite/include/autons.hpp
+++ b/RELENTLESS-Lite/include/autons.hpp
@@ -4,7 +4,7 @@
 
 void test_auton();
 void test_second();
-void arc_testing();
+void motion_profile_test();
 
 void default_constants();
 void exit_condition_defaults();
\ No newline at end of file
diff --git a/RELENTLESS-Lite/src/autons.cpp b/RELENTLESS-Lite/src/autons.cpp
index 1b48529..d36edca 100644
--- a/RELENTLESS-Lite/src/autons.cpp
+++ b/RELENTLESS-Lite/src/autons.cpp
@@ -125,13 +125,6 @@ void test_second() {
   // chassisRight.wait_drive();
 }
 
-void arc_testing() {
-  while (true) {
-    if (!taskSwing) {
-      chassisRight.set_swing_pid(ary::LEFT_SWING, 45, 110);
-      pros::delay(10);
-      taskSwing = true;
-    }
-    pros::delay(10);
-  }
+void motion_profile_test() {
+  chassisRight.set_profiled_drive(20, 1000);
 }
\ No newline at end of file
diff --git a/RELENTLESS-Lite/src/main.cpp b/RELENTLESS-Lite/src/main.cpp
index cfac529..e1e16ff 100644
--- a/RELENTLESS-Lite/src/main.cpp
+++ b/RELENTLESS-Lite/src/main.cpp
@@ -43,7 +43,7 @@ void initialize() {
   ary::autonselector::auton_selector.add_autons({
     Auton("Test Auton\n\nTesting Autonomous on field", test_auton),
     Auton("Test Auton - The Sequel\n\nyo mama", test_second), // TODO: Change this before putting this in the notebook LOL
-    Auton("CURVATURE, ARCING, AND EVERYTHING IN BETWEEN", arc_testing)
+    Auton("CURVATURE, ARCING, AND EVERYTHING IN BETWEEN more like motion profiles", motion_profile_test)
   });
 
   chassisRight.set_drive_brake(MOTOR_BRAKE_COAST);