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more auton

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ary 2023-12-14 10:10:39 -05:00
parent 782bcbaa04
commit 9b05ba1477
3 changed files with 73 additions and 14 deletions
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3
CLOUDS/include/autons.hpp
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@ -4,6 +4,7 @@
void near_side(); void near_side();
void far_side(); void far_side();
void six_triball(); void five_triball();
void four_triball_contact();
void testingAsyncRunning(); void testingAsyncRunning();
void skills(); void skills();

79
CLOUDS/src/autons.cpp
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@ -78,37 +78,94 @@ void far_side() {
turnSync(120); turnSync(120);
} }
void six_triball() { void four_triball_contact() {
/* */ /* */
togglePto(true); togglePto(true);
driveSync(35, true); driveSync(25, true);
turnSync(-37); turnSync(-37);
setIntakeSpeed(-12000); setIntakeSpeed(-12000);
driveSync(80, true); driveSync(35, true);
turnSync(80);
setIntakeSpeed(8000);
driveSync(10, true);
driveSync(-20, true);
pros::delay(250);
turnSync(-37);
setIntakeSpeed(-12000);
driveSync(25, true);
turnSync(90); turnSync(90);
wings.open(); wings.open();
setIntakeSpeed(12000); setIntakeSpeed(12000);
driveSync(55, true); driveSync(53, true);
wings.close(); wings.close();
driveSync(-10, true); driveSync(-10, true);
turnSync(-130); turnSync(-134);
setIntakeSpeed(-12000); setIntakeSpeed(-12000);
driveSync(60, true); driveSync(53, true);
driveSync(-10, true); driveSync(-10, true);
turnSync(67); turnSync(67);
setIntakeSpeed(12000); setIntakeSpeed(12000);
wings.open(); wings.open();
driveSync(80, true); driveSync(45, true);
driveSync(-10, true); driveSync(-15, true);
wings.close(); wings.close();
pros::delay(250);
turnSync(180); turnSync(180);
driveSync(55, true); driveSync(35, true);
turnSync(125);
driveSync(30, true);
wings.open();
turnSync(30);
driveSync(12, true);
rightSwing(0);
wings.close();
driveSync(35, true);
}
void five_triball_remove() {
/* */
togglePto(true);
driveSync(25, true);
turnSync(-37);
setIntakeSpeed(-12000);
driveSync(35, true);
turnSync(80);
setIntakeSpeed(8000);
driveSync(10, true);
driveSync(-20, true);
pros::delay(250);
turnSync(-37);
setIntakeSpeed(-12000);
driveSync(25, true);
turnSync(90);
wings.open();
setIntakeSpeed(12000);
driveSync(53, true);
wings.close();
driveSync(-10, true);
turnSync(-134);
setIntakeSpeed(-12000);
driveSync(53, true);
driveSync(-20, true);
turnSync(125);
driveSync(65, true);
wings.open();
turnSync(30);
driveSync(12, true);
rightSwing(0);
wings.close();
driveSync(35, true);
togglePto(false);
} }
void skills() { void skills() {
//toggleIntake(true); //toggleIntake(true);
driveSync(30, true); driveSync(10, true);
//toggleIntake(false); //toggleIntake(false);
turnSync(45); turnSync(45);
driveSync(35, true); driveSync(35, true);

5
CLOUDS/src/main.cpp
View File

@ -23,10 +23,11 @@ void initialize() {
Add autonomous paths to the auto selection Add autonomous paths to the auto selection
*/ */
ary::autonselector::auton_selector.add_autons({ ary::autonselector::auton_selector.add_autons({
Auton("Six triball\n\nThey ain't believe in us\nBut GOD DID :speaking_head:", six_triball), Auton("Five triballl\n\nThey ain't believe in us.. but GOD DID :speaking_head:", five_triball),
Auton("Far side \n\nFar from alliance goal", near_side), Auton("Far side \n\nFar from alliance goal", near_side),
Auton("Near side (far from alliance goal) \n\nCLOSE TO ALLIANCE GOAL", far_side), Auton("Near side (far from alliance goal) \n\nCLOSE TO ALLIANCE GOAL", far_side),
Auton("Skills \n\ncloudabunga", skills) Auton("Four triball contact\n\nfour triballs and then contact elevation", four_triball_contact),
Auton("Skills \n\nCLOUDABUNGAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA", skills)
}); });
superstruct::motorsCoast(); superstruct::motorsCoast();