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new autons - 6tb and async testing

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fake 6 triball, first half implemented
async testing, running intake in parallel

paths are to be optimized, lots of time is lost due to turning speed and timeouts alone
This commit is contained in:
ary 2023-12-13 07:38:44 -05:00
parent 9ad8cf220e
commit faacca6819
2 changed files with 39 additions and 2 deletions
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2
CLOUDS/include/autons.hpp
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@ -4,4 +4,6 @@
void near_side();
void far_side();
void six_triball();
void testingAsyncRunning();
void skills();

39
CLOUDS/src/autons.cpp
View File

@ -11,8 +11,8 @@ using namespace superstruct;
*/
void near_side() {
// Score the triball preload
togglePto(true);
runIntake(-12000);
//togglePto(true);
setIntakeSpeed(-12000);
driveSync(90, true);
turnSync(90);
@ -78,6 +78,34 @@ void far_side() {
turnSync(120);
}
void six_triball() {
/* */
togglePto(true);
driveSync(35, true);
turnSync(-37);
setIntakeSpeed(-12000);
driveSync(80, true);
turnSync(90);
wings.open();
setIntakeSpeed(12000);
driveSync(55, true);
wings.close();
driveSync(-10, true);
turnSync(-130);
setIntakeSpeed(-12000);
driveSync(60, true);
driveSync(-10, true);
turnSync(67);
setIntakeSpeed(12000);
wings.open();
driveSync(80, true);
driveSync(-10, true);
wings.close();
turnSync(180);
driveSync(55, true);
}
void skills() {
//toggleIntake(true);
driveSync(30, true);
@ -107,3 +135,10 @@ void skills() {
driveSync(125, true);
//turnSync();
}
void testingAsyncRunning() {
togglePto(true);
setIntakeSpeed(-12000);
pros::delay(5000);
driveSync(30, true);
}