r
This commit is contained in:
parent
a7404de94c
commit
5f8419afad
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@ -36,7 +36,21 @@
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+ Opposing side
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+ Scores 9 points
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+ Can counter other teams
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+ Currently a legacy auton
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6. AUTON 6
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Push auton. Moves 2ft backward then 0.5ft forward.
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Push auton. Moves the same amount as auton 0 forward, then reverses.
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+ Utility auton
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7. AUTON 7
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Allows us to bowl triballs off the top of the robot, then drives forward to push them into goal.
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+ Skills auton
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8. AUTON 8
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Drives forward, grabs triball, then turns around and pushes two field triballs to other side.
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+ Opposing Side
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+ Elim auton
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+ Refined version of AUTON 5
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+ Can counter other teams
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9. AUTON 9
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Drives forward and pushes three triballs into the goal. Also attempts to score our match load.
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+ Our side
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+ Can counter other teams
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+ Elim auton
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235
src/main.cpp
235
src/main.cpp
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@ -9,7 +9,9 @@
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/**
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* You should add more #includes here
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*/
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#include "display/lv_core/lv_obj.h"
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#include "display/lv_misc/lv_task.h"
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#include "display/lv_objx/lv_img.h"
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#include "okapi/api.hpp"
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#include "okapi/api/device/motor/abstractMotor.hpp"
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#include "okapi/api/units/QLength.hpp"
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@ -27,6 +29,62 @@
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// 1 2 3 5 //left
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// 7 8 9 10 //right
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// FILE HANDLE CODE:
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typedef FILE *pc_file_t;
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static lv_fs_res_t pcfs_open(void *file_p, const char *fn, lv_fs_mode_t mode) {
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errno = 0;
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const char *flags = "";
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if (mode == LV_FS_MODE_WR)
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flags = "wb";
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else if (mode == LV_FS_MODE_RD)
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flags = "rb";
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else if (mode == (LV_FS_MODE_WR | LV_FS_MODE_RD))
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flags = "a+";
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char buf[256];
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sprintf(buf, "/%s", fn);
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pc_file_t f = fopen(buf, flags);
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if (f == NULL)
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return LV_FS_RES_UNKNOWN;
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else {
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fseek(f, 0, SEEK_SET);
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pc_file_t *fp = (pc_file_t *)file_p;
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*fp = f;
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}
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return LV_FS_RES_OK;
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}
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static lv_fs_res_t pcfs_close(void *file_p) {
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pc_file_t *fp = (pc_file_t *)file_p;
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fclose(*fp);
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return LV_FS_RES_OK;
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}
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static lv_fs_res_t pcfs_read(void *file_p, void *buf, uint32_t btr,
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uint32_t *br) {
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pc_file_t *fp = (pc_file_t *)file_p;
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*br = fread(buf, 1, btr, *fp);
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return LV_FS_RES_OK;
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}
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static lv_fs_res_t pcfs_seek(void *file_p, uint32_t pos) {
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pc_file_t *fp = (pc_file_t *)file_p;
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fseek(*fp, pos, SEEK_SET);
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return LV_FS_RES_OK;
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}
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static lv_fs_res_t pcfs_tell(void *file_p, uint32_t *pos_p) {
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pc_file_t *fp = (pc_file_t *)file_p;
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*pos_p = ftell(*fp);
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return LV_FS_RES_OK;
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}
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// end file drivers
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int autonpick = 0;
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int automod = 0;
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lv_res_t sa0(lv_obj_t *btn) {
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@ -125,7 +183,8 @@ bool is_held(bool *log, bool ap) {
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* to keep execution time for this mode under a few seconds.
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*/
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void initialize() {
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pros::lcd::initialize();
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// pros::lcd::initialize();
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// pros::lcd::set_text(1, "Hello PROS User!");
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pros::lcd::register_btn1_cb(on_center_button);
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@ -226,7 +285,7 @@ void autonomous() {
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upflap.set_value(false);
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pros::Imu IMU(19);
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//IMU.reset(true);
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// IMU.reset(true);
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IMU.tare();
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pros::delay(200);
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@ -247,7 +306,8 @@ void autonomous() {
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std::printf("yaw: %f\n", yaw);
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// double turn = -92 - yaw;
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double turn = 45 - yaw;
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std:printf("turn: %f\n", turn);
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std:
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printf("turn: %f\n", turn);
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drive->setMaxVelocity(300);
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drive->turnAngle(turn * 1_deg);
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drive->moveDistanceAsync(4.1_ft);
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@ -316,7 +376,7 @@ void autonomous() {
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(900 -
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temp), // pull.moveRelative((1800
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//-
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//std::fmod(pull.getPosition(), 1800)),
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// std::fmod(pull.getPosition(), 1800)),
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10000000);
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reqtopull = false;
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@ -395,8 +455,8 @@ void autonomous() {
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pros::delay(500);
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auto starttime = Timer().millis();
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while (Timer().millis() < starttime + 1.5_s ) {
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drive->getModel()->curvature(-12000 , IMU.get_rotation() * -0.04);
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while (Timer().millis() < starttime + 1.5_s) {
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drive->getModel()->curvature(-12000, IMU.get_rotation() * -0.04);
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// printf("%i\n", distforward.get());
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pros::delay(10);
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@ -408,12 +468,12 @@ void autonomous() {
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drive->moveDistance(1_in);
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// drive->turnAngle(15_deg);
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//drive->moveDistance(-3.8_ft);
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//drive->turnAngle(90_deg);
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// drive->moveDistance(-3.8_ft);
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// drive->turnAngle(90_deg);
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bool imuholdarray[10];
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while (!is_held(imuholdarray, (abs(68.0 - IMU.get_rotation()) < 1)) ) {
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drive->getModel()->rotate((68.0 - IMU.get_rotation()) * 0.008 );
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while (!is_held(imuholdarray, (abs(68.0 - IMU.get_rotation()) < 1))) {
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drive->getModel()->rotate((68.0 - IMU.get_rotation()) * 0.008);
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pros::delay(10);
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}
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@ -432,10 +492,9 @@ void autonomous() {
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}
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if (autonpick == 6) {
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drive->setMaxVelocity(600);
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float x = 2;
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drive->moveDistance(x * -1_ft);
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pros::delay(500);
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float x = -2.7;
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drive->moveDistanceAsync(x * 1_ft);
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pros::delay(2500);
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drive->moveDistance(0.5_ft);
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}
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@ -443,17 +502,19 @@ void autonomous() {
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drive->moveDistance(-1_ft);
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piston.set_value(true);
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pros::delay(44500);
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drive->moveDistance(1_ft);
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piston.set_value(true);
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piston.set_value(false);
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drive->turnAngle(-45_deg);
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funnypiston.set_value(true);
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pros::delay(500);
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drive->moveDistance(6.5_ft);
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drive->moveDistance(7.5_ft);
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drive->turnAngle(-45_deg);
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drive->moveDistance(1_ft);
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drive->moveDistance(-1_ft);
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drive->moveDistance(1_ft);
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drive->moveDistance(-1_ft);
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drive->moveDistance(2_ft);
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drive->moveDistance(-2_ft);
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drive->moveDistance(2_ft);
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drive->moveDistance(-2_ft);
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}
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if (autonpick == 8) {
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pros::Distance distforward(17);
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@ -475,8 +536,8 @@ void autonomous() {
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pros::delay(500);
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auto starttime = Timer().millis();
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while (Timer().millis() < starttime + 1.5_s ) {
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drive->getModel()->curvature(-6000 , IMU.get_rotation() * -0.04);
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while (Timer().millis() < starttime + 1.5_s) {
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drive->getModel()->curvature(-6000, IMU.get_rotation() * -0.04);
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// printf("%i\n", distforward.get());
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pros::delay(10);
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@ -488,12 +549,12 @@ void autonomous() {
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drive->moveDistance(1_in);
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// drive->turnAngle(15_deg);
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//drive->moveDistance(-3.8_ft);
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//drive->turnAngle(90_deg);
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// drive->moveDistance(-3.8_ft);
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// drive->turnAngle(90_deg);
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bool imuholdarray[10];
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while (!is_held(imuholdarray, (abs(70.0 - IMU.get_rotation()) < 1)) ) {
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drive->getModel()->rotate((70.0 - IMU.get_rotation()) * 0.008 );
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while (!is_held(imuholdarray, (abs(70.0 - IMU.get_rotation()) < 1))) {
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drive->getModel()->rotate((70.0 - IMU.get_rotation()) * 0.008);
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pros::delay(10);
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}
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@ -514,8 +575,104 @@ void autonomous() {
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// drive->moveDistance(-1.5_ft);
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}
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if (autonpick == 9) {
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piston.set_value(true);
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pros::delay(300);
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piston.set_value(false);
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pros::Distance distforward(17);
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// drive->moveDistanceAsync(500_ft);
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drive->getModel()->setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
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// piston.set_value(true);
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// NEED TO WRTIE IMU CENTER CODE
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// update IMU each cycle to get true rotation
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while (distforward.get() > 300) {
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drive->getModel()->curvature(12000, IMU.get_rotation() * -0.04);
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// printf("%i\n", distforward.get());
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pros::delay(10);
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}
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drive->stop();
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funnypiston.set_value(true);
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pros::delay(500);
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drive->setMaxVelocity(200);
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drive->moveDistance(-1_in);
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bool imuholdarray[10];
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drive->setMaxVelocity(600);
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// while (!is_held(imuholdarray, (abs(100.0 - IMU.get_rotation()) < 1))) {
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// drive->getModel()->rotate((100.0 - IMU.get_rotation()) * 0.008);
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// pros::delay(10);
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// }
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drive->turnAngle(100_deg);
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drive->getModel()->stop();
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funnypiston.set_value(false);
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drive->moveDistanceAsync(2_ft);
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pros::delay(1000);
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drive->moveDistance(-1_ft);
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while (!is_held(imuholdarray, (abs(-110.0 - IMU.get_rotation()) < 3))) {
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drive->getModel()->rotate((-110.0 - IMU.get_rotation()) * 0.008);
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pros::delay(10);
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}
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drive->getModel()->stop();
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while (distforward.get() > 300) {
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drive->getModel()->curvature(12000, (IMU.get_rotation()+110) * -0.04);
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// printf("%i\n", distforward.get());
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pros::delay(10);
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}
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drive->stop();
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funnypiston.set_value(true);
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pros::delay(500);
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drive->moveDistance(-1_ft);
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while (!is_held(imuholdarray, (abs(75.0 - IMU.get_rotation()) < 3))) {
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drive->getModel()->rotate((75.0 - IMU.get_rotation()) * 0.008);
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pros::delay(10);
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}
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drive->getModel()->stop();
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funnypiston.set_value(false);
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drive->moveDistanceAsync(3_ft);
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pros::delay(1000);
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drive->moveDistance(-1_ft);
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while (!is_held(imuholdarray, (abs(-70.0 - IMU.get_rotation()) < 3))) {
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drive->getModel()->rotate((-70.0 - IMU.get_rotation()) * 0.008);
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pros::delay(10);
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}
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drive->getModel()->stop();
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drive->moveDistance(1_ft);
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funnypiston.set_value(true);
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pros::delay(300);
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drive->turnAngle(180_deg);
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funnypiston.set_value(false);
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drive->moveDistanceAsync(3_ft);
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pros::delay(1000);
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drive->moveDistanceAsync(-1_ft);
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// piston.set_value(false);
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}
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}
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/**
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@ -694,6 +851,31 @@ void opcontrol() {
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bool intakebool;
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intakebool = false;
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lv_fs_drv_t pcfs_drv; /*A driver descriptor*/
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memset(&pcfs_drv, 0, sizeof(lv_fs_drv_t)); /*Initialization*/
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pcfs_drv.file_size = sizeof(pc_file_t); /*Set up fields...*/
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pcfs_drv.letter = 'S';
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pcfs_drv.open = pcfs_open;
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pcfs_drv.close = pcfs_close;
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pcfs_drv.read = pcfs_read;
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pcfs_drv.seek = pcfs_seek;
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pcfs_drv.tell = pcfs_tell;
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lv_fs_add_drv(&pcfs_drv);
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lv_obj_clean(lv_scr_act());
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lv_obj_t *img_var = lv_img_create(lv_scr_act(), NULL);
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lv_obj_t *dog_var = lv_img_create(lv_scr_act(), NULL);
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lv_img_set_src(img_var, "S:/usd/raa.bin");
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lv_obj_set_pos(img_var, 200, 0);
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lv_obj_set_size(img_var, 200, 200);
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lv_img_set_src(dog_var, "S:/usd/dog2.bin");
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lv_obj_set_pos(dog_var, 200, 0);
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lv_obj_set_size(dog_var, 200, 200);
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while (true) {
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// Tank drive with left and right sticks.
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drive->getModel()->tank(controller.getAnalog(ControllerAnalog::leftY),
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@ -753,6 +935,7 @@ void opcontrol() {
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if (is_tapped(funnyarr, L2.isPressed())) {
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funnypistonstatus = !funnypistonstatus;
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lv_obj_set_hidden(dog_var, !funnypistonstatus);
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}
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if (is_tapped(upflaparr, R2.isPressed())) {
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Reference in a new issue