ITS ALIIIIIIIIIIIIIIIIIIIVE

RELENTLESS/include/superstructure.hpp

@@ -3,7 +3,7 @@
 #define DRIVE_SPEED 110
 #define TURN_SPEED 90
 #define SWING_SPEED 90
-
+// R1 -> WINGS, L1 -> CATA, L2 -> PTO, R2 -> INTAKE
 // Renu's control preferences
 #define RENU_PTO_TOGGLE DIGITAL_R2
 #define RENU_CATA_CONTROL DIGITAL_R1
@@ -56,7 +56,12 @@ namespace superstruct {
     void wingsControlSingle(pros::controller_digital_e_t wingControlButton);
     void wingsControlComplex(pros::controller_analog_e_t leftWingButton, pros::controller_analog_e_t rightWingButton, pros::controller_analog_e_t wingButton);
 
+    //More methods
+    void toggleIntake(bool val);
+    void toggleRemovalMech(bool val);
+
     void renu_control();
     void ria_control();
+    void chris_control();
     
 }

RELENTLESS/src/ary-lib/drive/user_input.cpp

@@ -201,8 +201,8 @@ void Drive::arcade_standard(e_type stick_type, e_curve_type curve_type) {
   } else if (stick_type == SINGLE) {
     // Put the joysticks through the curve function
     if (curve_type == DEFAULT) {
-      fwd_stick = left_curve_function(master.get_analog(ANALOG_LEFT_Y));
+      fwd_stick = left_curve_function(master.get_analog(ANALOG_RIGHT_Y));
-      turn_stick = right_curve_function(master.get_analog(ANALOG_LEFT_X));
+      turn_stick = right_curve_function(master.get_analog(ANALOG_RIGHT_X));
     } else if (curve_type == LOGARITHMIC) {
       //fwd_stick = (master.get_analog(ANALOG_LEFT_Y) >= 1) ? 10
     } else if (curve_type == SQRT) {

RELENTLESS/src/autons.cpp

@@ -20,11 +20,12 @@ using namespace superstruct;
 
 void near_side() {
   // Score the triball preload
-  driveSync(107, true); // Go forward
+  driveSync(107, true);
+  // Go forward
   
   // Get the furthest triball
   driveSync(-38, true); // Move away from the goal
-  turnSync(-99); // Turn towards the triball against the barrier
+   turnSync(-99); // Turn towards the triball against the barrier
   driveSync(95, true); // Drive towards the triball
 
   // Turn towards the goal, and score the triball.
@@ -39,10 +40,25 @@ void near_side() {
   turnSync(-90); // Turn to the triball and intake
   driveSync(12, true);
 
-  // chassis.set_drive_pid(2, DRIVE_SPEED, false, true);
+  
-  // chassis.wait_drive();
 }
 
 void far_side() {
+  toggleIntake(true);
+  driveSync(60, true);
+  turnSync(-90);
+  
+  toggleIntake(false);
+  driveSync(30, true);
+  driveSync(-30, true);
+
+  turnSync(-45);
+  driveSync(100, true);
+  toggleRemovalMech(true);
+  driveSync(-35, true);
+  toggleRemovalMech(false);
+
+  turnSync(55);
+  driveSync(70, true);
 
 }

RELENTLESS/src/globals.cpp

@@ -41,7 +41,7 @@ namespace globals {
     Drive chassis(
         {-2, -6, 12, 5},
         {-16, 1, 4, -3},
-        16,
+        18,
         WHEEL_SIZE,
         600,
         DRIVE_RATIO

RELENTLESS/src/main.cpp

@@ -71,12 +71,12 @@ void opcontrol() {
 		if (currentuser == RENU) {
 			chassis.tank_control();
 			renu_control();
-		} else if (currentuser = RIA) {
+		} else if (currentuser == RIA) {
 			chassis.tank_control(); // 
 			ria_control();
 		} else if (currentuser == CHRIS) {
-			chassis.arcade_standard(ary::SPLIT, ary::DEFAULT);
+			chassis.arcade_standard(ary::SINGLE, ary::DEFAULT);
-			renu_control();
+			chris_control();
 		} else {
 			renu_control(); 
 		}

RELENTLESS/src/superstructure.cpp

@@ -45,20 +45,20 @@ namespace superstruct {
 
   // Adjust exit conditions to allow for quick movements
   void configureExitConditions() {
-    chassis.set_exit_condition(chassis.turn_exit, 100, 3, 500, 7, 500, 500);
+    chassis.set_exit_condition(chassis.turn_exit, 50, 2, 220, 3, 500, 500);
     chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);
-    chassis.set_exit_condition(chassis.drive_exit, 80, 50, 300, 150, 500, 500);
+    chassis.set_exit_condition(chassis.drive_exit, 40, 80, 300, 150, 500, 500);
   }
 
   // Adjust PID constants for accurate movements
   void configureConstants() {
     chassis.set_slew_min_power(80, 80);
     chassis.set_slew_distance(7, 7);
-    chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
+    chassis.set_pid_constants(&chassis.headingPID, 16, 0, 32, 0);
-    chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);
+    chassis.set_pid_constants(&chassis.forward_drivePID, 0.55, 0, 5, 0);
-    chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);
+    chassis.set_pid_constants(&chassis.backward_drivePID, 0.55, 0, 5, 0);
-    chassis.set_pid_constants(&chassis.turnPID, 4, 0.003, 35, 15);
+    chassis.set_pid_constants(&chassis.turnPID, 6.5, 0.003, 35, 15);
-    chassis.set_pid_constants(&chassis.swingPID, 6, 0, 40, 0);
+    chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0);
   }
 
   // Prepare the bot for the autonomous period of a match
@@ -206,6 +206,16 @@ namespace superstruct {
     }
   }
 
+  void toggleIntake(bool val) {
+    int valTo = (val == true) ? 1 : 0;
+    intake_piston.set_value(valTo);
+  }
+
+  void toggleRemovalMech(bool val) {
+    int valTo = (val == true) ? 1 : 0;
+    doinker_piston.set_value(valTo);
+  }
+
   /*
     Handle respective controls
   */
@@ -221,4 +231,10 @@ namespace superstruct {
     wingsControlSingle(RIA_WINGS_CONTROL);
     intakeControl(RIA_INTAKE_CONTROL);
   }
+
+  void chris_control() {
+    cataControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
+    wingsControlSingle(RENU_WING_CONTROL);
+    intakeControl(RENU_INTAKE_CONTROL);
+  }
 }