That-One-Nerd/ary-over-under
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push updated stuff

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ary 2023-11-07 20:30:24 -05:00
parent 28dc7ea7eb
commit 83b13dc784
4 changed files with 33 additions and 28 deletions
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2
HVN-ON-EARTH/include/main.h
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@ -49,7 +49,7 @@
#include "asset.h" #include "asset.h"
#include "gif-pros/gifclass.hpp" #include "gif-pros/gifclass.hpp"
//#include "okapi/api.hpp" #include "okapi/api.hpp"
//#include "pros/api_legacy.h" //#include "pros/api_legacy.h"
/** /**

4
HVN-ON-EARTH/include/superstructure.hpp
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@ -1,7 +1,7 @@
#include "main.h" #include "main.h"
#define DRIVE_SPEED 110 #define DRIVE_SPEED 120
#define TURN_SPEED 127 #define TURN_SPEED 105
#define SWING_SPEED 90 #define SWING_SPEED 90
// R1 -> WINGS, L1 -> CATA, L2 -> PTO, R2 -> INTAKE // R1 -> WINGS, L1 -> CATA, L2 -> PTO, R2 -> INTAKE
// Renu's control preferences // Renu's control preferences

49
HVN-ON-EARTH/src/autons.cpp
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@ -35,35 +35,43 @@ void near_side() {
toggleIntake(true); toggleIntake(true);
pros::delay(100); pros::delay(100);
driveSync(-35, true); driveSync(-28, true);
turnSync(75); turnSync(75);
pros::delay(100); pros::delay(100);
toggleIntake(false); toggleIntake(false);
driveSync(35, true); driveSync(35, true);
driveSync(-20, true); driveSync(-35, true);
turnSync(300); turnSync(313);
driveSync(50, true); driveSync(40, true);
pros::delay(400); pros::delay(400);
toggleIntake(true); toggleIntake(true);
driveSync(-31, true); driveSync(-2, true);
setTurnScale(0.75);
turnSync(90); turnSync(90);
toggleIntake(false); toggleIntake(false);
wings.open(); wings.open();
driveSync(50, true); driveSync(55, true);
wings.close(); wings.close();
driveSync(-20, true); driveSync(-20, true);
//driveSync(100, true); //driveSync(100, true);
} }
void far_side() { void far_side() {
toggleIntake(true);
wings.open(); wings.open();
pros::delay(1000); toggleIntake(true);
turnSync(-180); driveSync(30, true);
wings.close();
turnSync(40);
toggleIntake(false);
driveSync(35, true);
driveSync(-10, true);
turnSync(135);
driveSync(90, true);
wings.open();
turnSync(120);
} }
// void far_side() { // void far_side() {
@ -74,14 +82,13 @@ void far_side() {
// } // }
void skills() { void skills() {
toggleIntake(true);
} driveSync(30, true);
toggleIntake(false);
void test_seq() { turnSync(45);
driveSync(20, true); driveSync(35, true);
} driveSync(-35, true);
turnSync(-60);
void odom_test() { driveSync(10, true);
chassis_odom.moveTo(10, 10, 1000); wings.open();
chassis_odom.turnTo(15, 15, 1000); }
};

6
HVN-ON-EARTH/src/main.cpp
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@ -42,10 +42,8 @@ void initialize() {
*/ */
ary::autonselector::auton_selector.add_autons({ ary::autonselector::auton_selector.add_autons({
Auton("Near side (close to alliance goal) \n\nTo run when near alliance goal", near_side), Auton("Near side (close to alliance goal) \n\nTo run when near alliance goal", near_side),
Auton("Far side (far from alliance goal) \n\nTo run when far from alliance goal", far_side), Auton("Far side (far from alliance goal) \n\nTo run when far from alliance GOAL", far_side),
Auton("Skills \n\nPEAK!!!", skills), Auton("Skills \n\nCLOUDABUNGAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA", skills)
Auton("TESTING TURNS", test_seq),
Auton("Testing Odometry \n\nBaltimore behavior", odom_test)
}); });
motorsCoast(); // Allow the motors to coast initially motorsCoast(); // Allow the motors to coast initially