From b15553abcdbba01f2bde189eee1f3faca2425fab Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Sun, 22 Oct 2023 05:08:03 -0500
Subject: [PATCH] changes from haunted

yea
---
 RELENTLESS/src/ary-lib/drive/user_input.cpp |  4 +-
 RELENTLESS/src/autons.cpp                   | 48 ++++++++++++---------
 RELENTLESS/src/main.cpp                     |  4 +-
 3 files changed, 31 insertions(+), 25 deletions(-)

diff --git a/RELENTLESS/src/ary-lib/drive/user_input.cpp b/RELENTLESS/src/ary-lib/drive/user_input.cpp
index 6bea1f1..43ec08a 100644
--- a/RELENTLESS/src/ary-lib/drive/user_input.cpp
+++ b/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_RIGHT_Y));
-      turn_stick = right_curve_function(master.get_analog(ANALOG_RIGHT_X));
+      fwd_stick = left_curve_function(master.get_analog(ANALOG_LEFT_Y));
+      turn_stick = right_curve_function(master.get_analog(ANALOG_LEFT_X));
     } else if (curve_type == LOGARITHMIC) {
       //fwd_stick = (master.get_analog(ANALOG_LEFT_Y) >= 1) ? 10
     } else if (curve_type == SQRT) {
diff --git a/RELENTLESS/src/autons.cpp b/RELENTLESS/src/autons.cpp
index 19e7aa2..de02ce8 100644
--- a/RELENTLESS/src/autons.cpp
+++ b/RELENTLESS/src/autons.cpp
@@ -20,40 +20,46 @@ using namespace superstruct;
 
 void near_side() {
   // Score the triball preload
-  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
-  driveSync(95, true); // Drive towards the triball
+  toggleIntake(true);
+  driveSync(100, true);
+  turnSync(90);
 
-  // Turn towards the goal, and score the triball.
-  driveSync(-10, true); // Move away from the point
-  turnSync(15); // Turn towards the goal 
-  driveSync(40, true); // Drive towards the goal and score the triball
-  leftSwing(60);
-  chassis.wait_drive();
+  toggleIntake(false);
+  pros::delay(50);
+  driveSync(22, true);
+  driveSync(-22, true);
 
-  //Drive backwards, turn to get the next triball off the line
-  driveSync(-48, true); // Move away from the goal towards the nearest triball
-  turnSync(-90); // Turn to the triball and intake
-  driveSync(12, true);
+  turnSync(-120);
+  driveSync(48.5, true);
+  pros::delay(150);
+  toggleIntake(true);
+  pros::delay(100);
 
+  driveSync(-35, true);
+  turnSync(90);
+
+  pros::delay(100);
+  toggleIntake(false);
+  driveSync(55, true);
+  driveSync(-20, true);
+
+  //driveSync(100, true);
   
 }
 
 void far_side() {
   toggleIntake(true);
-  driveSync(60, true);
+  driveSync(100, true);
   turnSync(-90);
   
   toggleIntake(false);
-  driveSync(30, true);
+  pros::delay(250);
+  driveSync(31, true);
   driveSync(-30, true);
 
-  turnSync(-45);
-  driveSync(100, true);
+  turnSync(-160);
+  driveSync(125, true);
+  pros::delay(1000);
   toggleRemovalMech(true);
   driveSync(-35, true);
   toggleRemovalMech(false);
diff --git a/RELENTLESS/src/main.cpp b/RELENTLESS/src/main.cpp
index 370cbd0..997ed37 100644
--- a/RELENTLESS/src/main.cpp
+++ b/RELENTLESS/src/main.cpp
@@ -72,8 +72,8 @@ void opcontrol() {
 			chassis.tank_control();
 			renu_control();
 		} else if (currentuser == RIA) {
-			chassis.tank_control(); // 
-			ria_control();
+			chassis.tank_control();
+			renu_control();
 		} else if (currentuser == CHRIS) {
 			chassis.arcade_standard(ary::SINGLE, ary::DEFAULT);
 			chris_control();