110 lines
2.3 KiB
C++
110 lines
2.3 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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To run when our robot is starting on the far side from our alliance zone
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/
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close to our alliance goal.
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*/
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void near_side() {
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// Score the triball preload
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togglePto(true);
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// INTAKE PLACEHOLDER -> IN
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runIntake(-12000);
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driveSync(90, true);
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turnSync(90);
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// INTAKE PLACERHOLDER -> OUT
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pros::delay(125);
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driveSync(22, true);
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driveSync(-19, true);
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//Collect and score the back outer triball
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turnSync(-118);
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driveSync(50, true);
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pros::delay(150);
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// INTAKE PLACEHOLDER -> OUT
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pros::delay(100);
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driveSync(-28, true);
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turnSync(75);
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pros::delay(100);
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// INTAKE PLACEHOLDER -> OUT
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driveSync(35, true);
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driveSync(-35, true);
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//Gain control of third triball, use wings to score last one
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turnSync(313);
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driveSync(40, true);
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pros::delay(400);
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// INTAKE PLACEHOLDER -> IN
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driveSync(-2, true);
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setTurnScale(0.75);
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turnSync(90);
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// INTAKE PLACEHOLDER -> IN
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wings.open();
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driveSync(65, true);
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wings.close();
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driveSync(-20, true);
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}
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/*
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To run when our robot is starting on the near side from our alliance zone
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/
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far from our alliance goal.
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*/
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void far_side() {
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wings.open(); // Prepare for removal of match load triball
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//toggleIntake(true); // Secure preload triball
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// Drive forward to removal match load triball with wings, close wings immediately
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driveSync(30, true);
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wings.close();
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//Score the preload
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turnSync(40);
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//toggleIntake(false);
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driveSync(35, true);
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driveSync(-10, true);
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//Turn towards the elevation bar area
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turnSync(135);
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driveSync(90, true);
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wings.open(); // Open our wings as they are being used to contact the bar
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turnSync(120);
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}
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void skills() {
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//toggleIntake(true);
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driveSync(30, true);
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//toggleIntake(false);
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turnSync(45);
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driveSync(35, true);
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driveSync(-35, true);
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turnSync(-60);
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driveSync(10, true);
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wings.open();
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togglePto(true);
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pros::delay(100);
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timer.reset();
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while (timer.getElapsedTimeMS() < 35000) {
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motor_trb.move_voltage(-12000);
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}
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motor_trb.move_voltage(0); // i hate my life
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togglePto(false);
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wings.close();
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driveSync(-35, true);
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turnSync(10);
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driveSync(-40, true);
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turnSync(45);
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driveSync(125, true);
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//turnSync();
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} |