From f1b1603d6e8aa7d7f5fb7960f3fe97ff340e4d5e Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Thu, 14 Dec 2023 18:15:40 -0500
Subject: [PATCH] autons and tuning

---
 CLOUDS/include/autons.hpp     |  2 +-
 CLOUDS/src/autons.cpp         | 12 +++++++-----
 CLOUDS/src/main.cpp           |  5 +++--
 CLOUDS/src/superstructure.cpp | 14 +++++++-------
 4 files changed, 18 insertions(+), 15 deletions(-)

diff --git a/CLOUDS/include/autons.hpp b/CLOUDS/include/autons.hpp
index 46dfbcd..14aab12 100644
--- a/CLOUDS/include/autons.hpp
+++ b/CLOUDS/include/autons.hpp
@@ -4,7 +4,7 @@
 
 void near_side();
 void far_side();
-void five_triball();
+void five_triball_remove();
 void four_triball_contact(); 
 void testingAsyncRunning();
 void skills();
\ No newline at end of file
diff --git a/CLOUDS/src/autons.cpp b/CLOUDS/src/autons.cpp
index c84b61c..575b9a9 100644
--- a/CLOUDS/src/autons.cpp
+++ b/CLOUDS/src/autons.cpp
@@ -134,7 +134,7 @@ void five_triball_remove() {
   turnSync(80);
   setIntakeSpeed(8000);
   driveSync(10, true);
-  driveSync(-20, true);
+  driveSync(-17.5, true);
   pros::delay(250);
   turnSync(-37);
   setIntakeSpeed(-12000);
@@ -150,16 +150,18 @@ void five_triball_remove() {
   driveSync(53, true);
   driveSync(-20, true);
 
-  turnSync(125);
-  driveSync(65, true);
+  turnSync(138);
+  driveSync(77, true);
 
   wings.open();
   turnSync(30);
 
   driveSync(12, true);
-  rightSwing(0);
+  rightSwing(15);
   wings.close();
-  driveSync(35, true);
+  setIntakeSpeed(12000);
+  driveSync(32, true);
+  driveSync(-10, true);
   togglePto(false);
 }
 
diff --git a/CLOUDS/src/main.cpp b/CLOUDS/src/main.cpp
index 1ab6a66..ffff04e 100644
--- a/CLOUDS/src/main.cpp
+++ b/CLOUDS/src/main.cpp
@@ -23,7 +23,7 @@ void initialize() {
 		Add autonomous paths to the auto selection
 	*/
 	ary::autonselector::auton_selector.add_autons({
-		Auton("Five triballl\n\nThey ain't believe in us.. but GOD DID :speaking_head:", five_triball),
+		Auton("Five triballl\n\nThey ain't believe in us..", five_triball_remove),
 		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("Four triball contact\n\nfour triballs and then contact elevation", four_triball_contact),
@@ -52,6 +52,7 @@ void opcontrol() {
 
 	while (true) {
 		globals::chassis.tank_control();
-		renu_control();	
+		renu_control();
+		pros::delay(ary::util::DELAY_TIME);
 	}
 }
\ No newline at end of file
diff --git a/CLOUDS/src/superstructure.cpp b/CLOUDS/src/superstructure.cpp
index ac7cff9..26109df 100644
--- a/CLOUDS/src/superstructure.cpp
+++ b/CLOUDS/src/superstructure.cpp
@@ -50,9 +50,9 @@ namespace superstruct
   // Adjust exit conditions to allow for quick movements
   void configureExitConditions()
   {
-    chassis.set_exit_condition(chassis.turn_exit, 25, 2, 75, 3, 50, 75);
-    chassis.set_exit_condition(chassis.swing_exit, 100, 3, 75, 7, 50, 75);
-    chassis.set_exit_condition(chassis.drive_exit, 15, 85, 75, 150, 50, 75);
+    chassis.set_exit_condition(chassis.turn_exit, 45, 2, 150, 3, 435, 435);
+    chassis.set_exit_condition(chassis.swing_exit, 100, 3, 400, 7, 435, 435);
+    chassis.set_exit_condition(chassis.drive_exit, 35, 80, 200, 150, 435, 435);
   }
 
   // Adjust PID constants for accurate movements
@@ -60,10 +60,10 @@ namespace superstruct
   {
     chassis.set_slew_min_power(80, 80);
     chassis.set_slew_distance(7, 7);
-    chassis.set_pid_constants(&chassis.headingPID, 16, 0, 40, 0);
-    chassis.set_pid_constants(&chassis.forward_drivePID, 2.5, 0.003, 16.5, 0);
-    chassis.set_pid_constants(&chassis.backward_drivePID, 2.5, 0.003, 16.5, 0);
-    chassis.set_pid_constants(&chassis.turnPID, 8.5, 0.002, 75, 15);
+    chassis.set_pid_constants(&chassis.headingPID, 16, 0, 52, 0);
+    chassis.set_pid_constants(&chassis.forward_drivePID, 3, 0, 18, 0);
+    chassis.set_pid_constants(&chassis.backward_drivePID, 3, 0, 18, 0);
+    chassis.set_pid_constants(&chassis.turnPID, 8, 0.001, 80, 15);
     chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0);
   }