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autons and tuning

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ary 2023-12-14 18:15:40 -05:00
parent 9f144e7286
commit f1b1603d6e
4 changed files with 18 additions and 15 deletions
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2
CLOUDS/include/autons.hpp
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@ -4,7 +4,7 @@
void near_side(); void near_side();
void far_side(); void far_side();
void five_triball(); void five_triball_remove();
void four_triball_contact(); void four_triball_contact();
void testingAsyncRunning(); void testingAsyncRunning();
void skills(); void skills();

12
CLOUDS/src/autons.cpp
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@ -134,7 +134,7 @@ void five_triball_remove() {
turnSync(80); turnSync(80);
setIntakeSpeed(8000); setIntakeSpeed(8000);
driveSync(10, true); driveSync(10, true);
driveSync(-20, true); driveSync(-17.5, true);
pros::delay(250); pros::delay(250);
turnSync(-37); turnSync(-37);
setIntakeSpeed(-12000); setIntakeSpeed(-12000);
@ -150,16 +150,18 @@ void five_triball_remove() {
driveSync(53, true); driveSync(53, true);
driveSync(-20, true); driveSync(-20, true);
turnSync(125); turnSync(138);
driveSync(65, true); driveSync(77, true);
wings.open(); wings.open();
turnSync(30); turnSync(30);
driveSync(12, true); driveSync(12, true);
rightSwing(0); rightSwing(15);
wings.close(); wings.close();
driveSync(35, true); setIntakeSpeed(12000);
driveSync(32, true);
driveSync(-10, true);
togglePto(false); togglePto(false);
} }

3
CLOUDS/src/main.cpp
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@ -23,7 +23,7 @@ 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("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("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("Four triball contact\n\nfour triballs and then contact elevation", four_triball_contact), Auton("Four triball contact\n\nfour triballs and then contact elevation", four_triball_contact),
@ -53,5 +53,6 @@ void opcontrol() {
while (true) { while (true) {
globals::chassis.tank_control(); globals::chassis.tank_control();
renu_control(); renu_control();
pros::delay(ary::util::DELAY_TIME);
} }
} }

14
CLOUDS/src/superstructure.cpp
View File

@ -50,9 +50,9 @@ namespace superstruct
// Adjust exit conditions to allow for quick movements // Adjust exit conditions to allow for quick movements
void configureExitConditions() void configureExitConditions()
{ {
chassis.set_exit_condition(chassis.turn_exit, 25, 2, 75, 3, 50, 75); chassis.set_exit_condition(chassis.turn_exit, 45, 2, 150, 3, 435, 435);
chassis.set_exit_condition(chassis.swing_exit, 100, 3, 75, 7, 50, 75); chassis.set_exit_condition(chassis.swing_exit, 100, 3, 400, 7, 435, 435);
chassis.set_exit_condition(chassis.drive_exit, 15, 85, 75, 150, 50, 75); chassis.set_exit_condition(chassis.drive_exit, 35, 80, 200, 150, 435, 435);
} }
// Adjust PID constants for accurate movements // Adjust PID constants for accurate movements
@ -60,10 +60,10 @@ namespace superstruct
{ {
chassis.set_slew_min_power(80, 80); chassis.set_slew_min_power(80, 80);
chassis.set_slew_distance(7, 7); chassis.set_slew_distance(7, 7);
chassis.set_pid_constants(&chassis.headingPID, 16, 0, 40, 0); chassis.set_pid_constants(&chassis.headingPID, 16, 0, 52, 0);
chassis.set_pid_constants(&chassis.forward_drivePID, 2.5, 0.003, 16.5, 0); chassis.set_pid_constants(&chassis.forward_drivePID, 3, 0, 18, 0);
chassis.set_pid_constants(&chassis.backward_drivePID, 2.5, 0.003, 16.5, 0); chassis.set_pid_constants(&chassis.backward_drivePID, 3, 0, 18, 0);
chassis.set_pid_constants(&chassis.turnPID, 8.5, 0.002, 75, 15); chassis.set_pid_constants(&chassis.turnPID, 8, 0.001, 80, 15);
chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0); chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0);
} }