46 lines
1.4 KiB
C++
46 lines
1.4 KiB
C++
#include "main.h"
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#include <stdlib.h>
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using namespace globals;
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using namespace superstruct;
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/*
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TODO:
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- AUTONS
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- SameBarQual
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- OppBarQual
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- SameBarElims
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- OppBar Elims
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*/
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/*
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chassis.wait_drive() -> Waits for the drivetrain to complete whatever movement is happening
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chassis.wait_until(double measurement) -> Waits for the drivetrain to reach a certain measurement before performing the next task.
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*/
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void test_auton() {
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// Score the triball preload
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driveSync(107, true); // Go forward
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// Get the furthest triball
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driveSync(-38, true); // Move away from the goal
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turnSync(-99); // Turn towards the triball against the barrier
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driveSync(95, true); // Drive towards the triball
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// Turn towards the goal, and score the triball.
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driveSync(-10, true); // Move away from the point
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turnSync(15); // Turn towards the goal
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driveSync(40, true); // Drive towards the goal and score the triball
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leftSwing(60);
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chassis.wait_drive();
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//Drive backwards, turn to get the next triball off the line
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driveSync(-48, true); // Move away from the goal towards the nearest triball
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turnSync(-90); // Turn to the triball and intake
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driveSync(12, true);
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// chassis.set_drive_pid(2, DRIVE_SPEED, false, true);
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// chassis.wait_drive();
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}
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//pros::task_t intakeTask(run_intake_for, (void*) malloc(sizeof(double)), TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "runIntakeFor");
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