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InventorXtreme 2024-03-02 16:38:23 -05:00
parent 5f8419afad
commit 77301633a9
1 changed files with 185 additions and 45 deletions
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226
src/main.cpp
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@ -300,19 +300,43 @@ void autonomous() {
if (autonpick == 0) { // Auton #1, used for adding tribal to goal if (autonpick == 0) { // Auton #1, used for adding tribal to goal
float x = -2.7; float x = -2.7;
drive->moveDistanceAsync(x * 1_ft); drive->moveDistanceAsync(x * 1_ft);
pros::delay(2500); pros::delay(1500);
drive->moveDistance(0.5_ft); drive->moveDistance(0.7_ft);
double yaw = IMU.get_heading(); pros::delay(100);
std::printf("yaw: %f\n", yaw);
// double turn = -92 - yaw; pros::Distance distforward(17);
double turn = 45 - yaw;
std: // double yaw = IMU.get_heading();
printf("turn: %f\n", turn); // std::printf("yaw: %f\n", yaw);
drive->setMaxVelocity(300); // double turn = -92 - yaw;
drive->turnAngle(turn * 1_deg); // double turn = 53 - yaw;
drive->moveDistanceAsync(4.1_ft); // std:: printf("turn: %f\n", turn);
pros::delay(3000); // drive->setMaxVelocity(300);
// drive->turnAngle(turn * 1_deg);
bool imuholdarray[10];
while (!is_held(imuholdarray, (abs(65.0 - IMU.get_rotation()) < 1))) {
drive->getModel()->rotate((65.0 - IMU.get_rotation()) * 0.008);
pros::delay(10);
}
drive->stop();
drive->getModel()->stop();
while (distforward.get() > 150) {
drive->getModel()->curvature(12000,
(IMU.get_rotation() - 65.0) * -0.04);
// printf("%i\n", distforward.get());
pros::delay(10);
}
drive->getModel()->stop();
pros::delay(700);
piston.set_value(true); piston.set_value(true);
drive->setMaxVelocity(150);
drive->getModel()->setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
drive->moveDistance(5_in);
} else if (autonpick == 1 || } else if (autonpick == 1 ||
autonpick == autonpick ==
2) { // Auton #2, Used for removing triball from match loader 2) { // Auton #2, Used for removing triball from match loader
@ -323,13 +347,34 @@ void autonomous() {
pros::delay(1000); pros::delay(1000);
piston.set_value(false); piston.set_value(false);
// drive->moveDistance(-1.7_ft); // drive->moveDistance(-1.7_ft);
drive->turnAngle(115_deg); //drive->turnAngle(115_deg);
drive->moveDistance(3.5_ft); bool imuholdarray[10];
drive->turnAngle(95_deg); while (!is_held(imuholdarray,
(abs(115.0 - IMU.get_rotation()) < 3))) {
drive->getModel()->rotate((115.0 - IMU.get_rotation()) *
0.004);
pros::delay(10);
}
drive->getModel()->stop();
drive->moveDistance(3.69_ft);
//drive->turnAngle(95_deg);
while (!is_held(imuholdarray,
(abs(225.0 - IMU.get_rotation()) < 3))) {
drive->getModel()->rotate((225.0 - IMU.get_rotation()) *
0.004);
pros::delay(10);
}
drive->getModel()->stop();
drive->setMaxVelocity(50); drive->setMaxVelocity(50);
drive->moveDistanceAsync(2_ft);
pros::delay(2500);
piston.set_value(true); piston.set_value(true);
drive->moveDistanceAsync(1.7_ft);
pros::delay(2500);
drive->moveDistance(4_in); drive->moveDistance(4_in);
} }
@ -602,12 +647,13 @@ void autonomous() {
drive->setMaxVelocity(600); drive->setMaxVelocity(600);
// while (!is_held(imuholdarray, (abs(100.0 - IMU.get_rotation()) < 1))) { // while (!is_held(imuholdarray, (abs(100.0 - IMU.get_rotation()) < 1)))
// {
// drive->getModel()->rotate((100.0 - IMU.get_rotation()) * 0.008); // drive->getModel()->rotate((100.0 - IMU.get_rotation()) * 0.008);
// pros::delay(10); // pros::delay(10);
// } // }
drive->turnAngle(100_deg); drive->turnAngle(100_deg);
drive->getModel()->stop(); drive->getModel()->stop();
@ -615,18 +661,19 @@ void autonomous() {
drive->moveDistanceAsync(2_ft); drive->moveDistanceAsync(2_ft);
pros::delay(1000); pros::delay(700);
drive->moveDistance(-1_ft); drive->moveDistance(-1_ft);
while (!is_held(imuholdarray, (abs(-110.0 - IMU.get_rotation()) < 3))) { while (!is_held(imuholdarray, (abs(-110.0 - IMU.get_rotation()) < 3))) {
drive->getModel()->rotate((-110.0 - IMU.get_rotation()) * 0.008); drive->getModel()->rotate((-110.0 - IMU.get_rotation()) * 0.004);
pros::delay(10); pros::delay(10);
} }
drive->getModel()->stop(); drive->getModel()->stop();
while (distforward.get() > 300) { while (distforward.get() > 300) {
drive->getModel()->curvature(12000, (IMU.get_rotation()+110) * -0.04); drive->getModel()->curvature(12000,
(IMU.get_rotation() + 110) * -0.04);
// printf("%i\n", distforward.get()); // printf("%i\n", distforward.get());
pros::delay(10); pros::delay(10);
@ -635,44 +682,133 @@ void autonomous() {
funnypiston.set_value(true); funnypiston.set_value(true);
pros::delay(500); pros::delay(500);
drive->moveDistance(-1_ft); drive->moveDistance(-1_ft);
while (!is_held(imuholdarray, (abs(75.0 - IMU.get_rotation()) < 3))) { while (!is_held(imuholdarray, (abs(85.0 - IMU.get_rotation()) < 3))) {
drive->getModel()->rotate((75.0 - IMU.get_rotation()) * 0.008); drive->getModel()->rotate((85.0 - IMU.get_rotation()) * 0.004); // 98
pros::delay(10); pros::delay(10);
} }
drive->getModel()->stop(); drive->getModel()->stop();
funnypiston.set_value(false); funnypiston.set_value(false);
drive->moveDistanceAsync(3_ft); drive->moveDistanceAsync(3_ft);
pros::delay(1000); pros::delay(700);
drive->moveDistance(-1_ft); drive->moveDistance(-1_ft);
while (!is_held(imuholdarray, (abs(-70.0 - IMU.get_rotation()) < 3))) { while (!is_held(imuholdarray, (abs(-70.0 - IMU.get_rotation()) < 3))) {
drive->getModel()->rotate((-70.0 - IMU.get_rotation()) * 0.008); drive->getModel()->rotate((-70.0 - IMU.get_rotation()) * 0.004);
pros::delay(10); pros::delay(10);
} }
drive->getModel()->stop(); drive->getModel()->stop();
drive->moveDistance(1_ft); while (distforward.get() > 300) {
drive->getModel()->curvature(12000,
(IMU.get_rotation() + 70.0) * -0.04);
funnypiston.set_value(true); // printf("%i\n", distforward.get());
pros::delay(300); pros::delay(10);
}
drive->getModel()->stop();
drive->turnAngle(180_deg); funnypiston.set_value(true);
funnypiston.set_value(false); pros::delay(300);
drive->moveDistanceAsync(3_ft); drive->turnAngle(180_deg);
pros::delay(1000); funnypiston.set_value(false);
drive->moveDistanceAsync(-1_ft);
drive->moveDistanceAsync(3_ft);
pros::delay(700);
drive->moveDistanceAsync(-1_ft);
// piston.set_value(false); // piston.set_value(false);
} }
if (autonpick == 10) {
piston.set_value(true);
pros::delay(300);
piston.set_value(false);
pros::Distance distforward(17);
// drive->moveDistanceAsync(500_ft);
drive->getModel()->setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
// piston.set_value(true);
// NEED TO WRTIE IMU CENTER CODE
// update IMU each cycle to get true rotation
while (distforward.get() > 300) {
drive->getModel()->curvature(12000, IMU.get_rotation() * -0.04);
// printf("%i\n", distforward.get());
pros::delay(10);
}
drive->stop();
funnypiston.set_value(true);
pros::delay(500);
// drive->moveDistance(-1_ft);
bool imuholdarray[10];
while (!is_held(imuholdarray, (abs(130.0 - IMU.get_rotation()) < 3))) {
drive->getModel()->rotate((130.0 - IMU.get_rotation()) * 0.004);
pros::delay(10);
}
drive->getModel()->stop();
pros::delay(100);
drive->moveDistance(-0.5_ft);
funnypiston.set_value(false);
piston.set_value(true);
drive->moveDistanceAsync(2.5_ft);
pros::delay(1000);
piston.set_value(false);
drive->moveDistance(-1_ft);
pros::delay(200);
while (!is_held(imuholdarray, (abs(-82.0 - IMU.get_rotation()) < 3))) {
drive->getModel()->rotate((-82.0 - IMU.get_rotation()) * 0.004);
pros::delay(10);
}
drive->getModel()->stop();
while (distforward.get() > 300) {
drive->getModel()->curvature(12000,
(IMU.get_rotation() + 90.0) * -0.04);
// printf("%i\n", distforward.get());
pros::delay(10);
}
funnypiston.set_value(true);
drive->getModel()->stop();
pros::delay(700);
while (!is_held(imuholdarray, (abs(165.0 - IMU.get_rotation()) < 3))) {
drive->getModel()->rotate((165.0 - IMU.get_rotation()) * 0.004);
pros::delay(10);
}
drive->getModel()->stop();
pros::delay(200);
drive->moveDistance(3_ft);
drive->turnAngle(-110_deg);
pros::delay(200);
funnypiston.set_value(false);
piston.set_value(true);
drive->moveDistanceAsync(3_ft);
pros::delay(1200);
drive->moveDistance(-1_ft);
piston.set_value(false);
}
} }
/** /**
@ -1084,3 +1220,7 @@ void opcontrol() {
pros::delay(10); pros::delay(10);
} }
} }
// code sukz lol
// moaning == goofy
// housecats mid
// t team better