r
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5f8419afad
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77301633a9
192
src/main.cpp
192
src/main.cpp
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@ -300,19 +300,43 @@ void autonomous() {
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if (autonpick == 0) { // Auton #1, used for adding tribal to goal
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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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double yaw = IMU.get_heading();
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std::printf("yaw: %f\n", yaw);
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pros::delay(1500);
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drive->moveDistance(0.7_ft);
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pros::delay(100);
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pros::Distance distforward(17);
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// double yaw = IMU.get_heading();
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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:
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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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pros::delay(3000);
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// double turn = 53 - yaw;
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// std:: 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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bool imuholdarray[10];
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while (!is_held(imuholdarray, (abs(65.0 - IMU.get_rotation()) < 1))) {
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drive->getModel()->rotate((65.0 - IMU.get_rotation()) * 0.008);
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pros::delay(10);
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}
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drive->stop();
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drive->getModel()->stop();
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while (distforward.get() > 150) {
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drive->getModel()->curvature(12000,
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(IMU.get_rotation() - 65.0) * -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->getModel()->stop();
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pros::delay(700);
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piston.set_value(true);
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drive->setMaxVelocity(150);
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drive->getModel()->setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
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drive->moveDistance(5_in);
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} else if (autonpick == 1 ||
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autonpick ==
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2) { // Auton #2, Used for removing triball from match loader
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@ -323,13 +347,34 @@ void autonomous() {
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pros::delay(1000);
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piston.set_value(false);
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// drive->moveDistance(-1.7_ft);
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drive->turnAngle(115_deg);
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drive->moveDistance(3.5_ft);
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drive->turnAngle(95_deg);
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//drive->turnAngle(115_deg);
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bool imuholdarray[10];
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while (!is_held(imuholdarray,
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(abs(115.0 - IMU.get_rotation()) < 3))) {
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drive->getModel()->rotate((115.0 - IMU.get_rotation()) *
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0.004);
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pros::delay(10);
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}
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drive->getModel()->stop();
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drive->moveDistance(3.69_ft);
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//drive->turnAngle(95_deg);
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while (!is_held(imuholdarray,
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(abs(225.0 - IMU.get_rotation()) < 3))) {
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drive->getModel()->rotate((225.0 - IMU.get_rotation()) *
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0.004);
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pros::delay(10);
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}
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drive->getModel()->stop();
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drive->setMaxVelocity(50);
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drive->moveDistanceAsync(2_ft);
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pros::delay(2500);
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piston.set_value(true);
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drive->moveDistanceAsync(1.7_ft);
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pros::delay(2500);
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drive->moveDistance(4_in);
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}
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@ -602,7 +647,8 @@ void autonomous() {
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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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// while (!is_held(imuholdarray, (abs(100.0 - IMU.get_rotation()) < 1)))
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// {
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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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@ -615,18 +661,19 @@ void autonomous() {
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drive->moveDistanceAsync(2_ft);
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pros::delay(1000);
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pros::delay(700);
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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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drive->getModel()->rotate((-110.0 - IMU.get_rotation()) * 0.004);
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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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drive->getModel()->curvature(12000,
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(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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@ -637,8 +684,8 @@ void autonomous() {
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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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while (!is_held(imuholdarray, (abs(85.0 - IMU.get_rotation()) < 3))) {
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drive->getModel()->rotate((85.0 - IMU.get_rotation()) * 0.004); // 98
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pros::delay(10);
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}
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@ -648,18 +695,25 @@ void autonomous() {
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drive->moveDistanceAsync(3_ft);
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pros::delay(1000);
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pros::delay(700);
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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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drive->getModel()->rotate((-70.0 - IMU.get_rotation()) * 0.004);
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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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while (distforward.get() > 300) {
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drive->getModel()->curvature(12000,
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(IMU.get_rotation() + 70.0) * -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->getModel()->stop();
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funnypiston.set_value(true);
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pros::delay(300);
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@ -668,11 +722,93 @@ void autonomous() {
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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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pros::delay(700);
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drive->moveDistanceAsync(-1_ft);
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// piston.set_value(false);
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}
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if (autonpick == 10) {
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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->moveDistance(-1_ft);
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bool imuholdarray[10];
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while (!is_held(imuholdarray, (abs(130.0 - IMU.get_rotation()) < 3))) {
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drive->getModel()->rotate((130.0 - IMU.get_rotation()) * 0.004);
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pros::delay(10);
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}
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drive->getModel()->stop();
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pros::delay(100);
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drive->moveDistance(-0.5_ft);
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funnypiston.set_value(false);
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piston.set_value(true);
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drive->moveDistanceAsync(2.5_ft);
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pros::delay(1000);
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piston.set_value(false);
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drive->moveDistance(-1_ft);
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pros::delay(200);
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while (!is_held(imuholdarray, (abs(-82.0 - IMU.get_rotation()) < 3))) {
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drive->getModel()->rotate((-82.0 - IMU.get_rotation()) * 0.004);
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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,
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(IMU.get_rotation() + 90.0) * -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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funnypiston.set_value(true);
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drive->getModel()->stop();
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pros::delay(700);
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while (!is_held(imuholdarray, (abs(165.0 - IMU.get_rotation()) < 3))) {
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drive->getModel()->rotate((165.0 - IMU.get_rotation()) * 0.004);
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pros::delay(10);
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}
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drive->getModel()->stop();
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pros::delay(200);
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drive->moveDistance(3_ft);
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drive->turnAngle(-110_deg);
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pros::delay(200);
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funnypiston.set_value(false);
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piston.set_value(true);
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drive->moveDistanceAsync(3_ft);
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pros::delay(1200);
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drive->moveDistance(-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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@ -1084,3 +1220,7 @@ void opcontrol() {
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pros::delay(10);
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}
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}
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// code sukz lol
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// moaning == goofy
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// housecats mid
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// t team better
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