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fixed stuff idk

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InventorXtreme 2023-12-06 21:39:37 -05:00
parent 8b2d4df313
commit 820658e2e3
1 changed files with 41 additions and 13 deletions
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54
src/main.cpp
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@ -212,7 +212,7 @@ void autonomous() {
bool pullback = false; bool pullback = false;
bool ready = false; bool ready = false;
Motor pull(10); Motor pull(12);
printf("%d\n", autonpick); printf("%d\n", autonpick);
// pull.setReversed(true); // pull.setReversed(true);
@ -224,7 +224,7 @@ void autonomous() {
drive->moveDistance(1_ft); drive->moveDistance(1_ft);
double yaw = IMU.get_heading(); double yaw = IMU.get_heading();
std::printf("%f", yaw); std::printf("%f", yaw);
double turn = -95 - yaw; double turn = -92 - yaw;
drive->setMaxVelocity(300); drive->setMaxVelocity(300);
drive->turnAngle(turn * 1_deg); drive->turnAngle(turn * 1_deg);
drive->moveDistanceAsync(-4.1_ft); drive->moveDistanceAsync(-4.1_ft);
@ -252,15 +252,19 @@ void autonomous() {
} else if (autonpick == 3) { } else if (autonpick == 3) {
bool reqtopull = false; bool reqtopull = false;
bool good[10]; bool good[10];
pros::Distance dist(11); // fixed pros::Distance dist(13); // fixed
pull.tarePosition(); pull.tarePosition();
printf("hereasdsadfasdfsdf\n");
while (true) { while (true) {
if (is_held(good, dist.get() < 70)) { if (is_held(good, dist.get() < 70)) {
reqtopull = true; reqtopull = true;
} }
// if (pros::millis() % 2000 <= 10){
// reqtopull = true;
// }
if (reqtopull) { if (reqtopull) {
// pull.moveRelative((1800 - std::fmod(pull.getPosition(), // pull.moveRelative((1800 - std::fmod(pull.getPosition(),
// 1800)), // 1800)),
@ -280,8 +284,30 @@ void autonomous() {
} }
pros::delay(10); pros::delay(10);
} }
} }
if (autonpick == 3 || autonpick == 8) {
drive->setMaxVelocity(300);
drive->moveDistance(-7_ft);
drive->turnAngle(-60_deg);
drive->setMaxVelocity(600);
//piston.set_value(true);
drive->moveDistanceAsync(-5_ft);
pros::delay(1200);
//piston.set_value(false);
drive->moveDistance(0.7_ft);
pros::delay(300);
drive->moveDistance(-3_ft);
}
if (autonpick == -1) { if (autonpick == -1) {
drive->turnAngle(90_deg); drive->turnAngle(90_deg);
} }
@ -357,7 +383,7 @@ void opcontrol() {
Motor flywheel(15); Motor flywheel(15);
Motor pull(11); Motor pull(12);
//pull.setReversed(true); //pull.setReversed(true);
Motor lift(16); Motor lift(16);
@ -373,7 +399,7 @@ void opcontrol() {
// MotorGroup pull = MotorGroup({pull1, pull2}); // MotorGroup pull = MotorGroup({pull1, pull2});
flywheel.setBrakeMode(okapi::AbstractMotor::brakeMode::coast); flywheel.setBrakeMode(okapi::AbstractMotor::brakeMode::coast);
flywheel.setGearing(okapi::AbstractMotor::gearset::blue); //should be red for cata flywheel.setGearing(okapi::AbstractMotor::gearset::blue); //should be red for cata
pull.setBrakeMode(okapi::AbstractMotor::brakeMode::hold); pull.setBrakeMode(okapi::AbstractMotor::brakeMode::coast);
lift.setBrakeMode(okapi::AbstractMotor::brakeMode::hold); lift.setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
@ -633,11 +659,13 @@ void opcontrol() {
if (is_tapped(r1arr, R1.isPressed()) || reqtoloop == true) { if (is_tapped(r1arr, R1.isPressed()) || reqtoloop == true) {
float temp = std::fmod(pull.getPosition(), 900); float temp = std::fmod(pull.getPosition(), 900);
pros::lcd::set_text(6,std::to_string(temp));
if ((900 - temp) < 150) { if ((900 - temp) < 150) {
temp = -(900 - temp); temp = -(900 - temp);
pros::lcd::set_text(7,std::to_string(temp));
} }
pull.moveRelative( pull.moveRelative(
(900 - (900 -
temp), // pull.moveRelative((1800 - temp), // pull.moveRelative((1800 -
// std::fmod(pull.getPosition(), 1800)), // std::fmod(pull.getPosition(), 1800)),
@ -670,7 +698,7 @@ void opcontrol() {
pull.moveVoltage(0); pull.moveVoltage(0);
} }
pros::lcd::set_text(5, std::to_string(IMU.get())); //pros::lcd::set_text(5, std::to_string(IMU.get()));
// if (L2.isPressed()) { // if (L2.isPressed()) {
// intake.moveVoltage(-12000); // intake.moveVoltage(-12000);
@ -683,7 +711,7 @@ void opcontrol() {
// testMotor.moveVoltage(0); // testMotor.moveVoltage(0);
// } // }
pros::lcd::set_text(5,std::to_string(pull.getTargetPosition())); pros::lcd::set_text(5,std::to_string(pull.getPosition()));
controller.setText( controller.setText(