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InventorXtreme 2024-02-10 10:47:00 -05:00
parent 96232c9d78
commit a7404de94c
1 changed files with 85 additions and 4 deletions
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89
src/main.cpp
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@ -148,6 +148,10 @@ void disabled() {}
* starts.
*/
void competition_initialize() {
pros::Imu IMU(19);
IMU.reset(true);
IMU.tare();
pros::delay(200);
lv_obj_t *guibtn1 = lv_btn_create(lv_scr_act(), NULL);
lv_btn_set_action(guibtn1, LV_BTN_ACTION_CLICK, sa0);
@ -222,7 +226,7 @@ void autonomous() {
upflap.set_value(false);
pros::Imu IMU(19);
IMU.reset(true);
//IMU.reset(true);
IMU.tare();
pros::delay(200);
@ -243,8 +247,7 @@ void autonomous() {
std::printf("yaw: %f\n", yaw);
// double turn = -92 - yaw;
double turn = 45 - yaw;
std:
printf("turn: %f\n", turn);
std:printf("turn: %f\n", turn);
drive->setMaxVelocity(300);
drive->turnAngle(turn * 1_deg);
drive->moveDistanceAsync(4.1_ft);
@ -435,6 +438,84 @@ void autonomous() {
pros::delay(500);
drive->moveDistance(0.5_ft);
}
if (autonpick == 7) {
drive->moveDistance(-1_ft);
piston.set_value(true);
pros::delay(44500);
drive->moveDistance(1_ft);
piston.set_value(true);
drive->turnAngle(-45_deg);
funnypiston.set_value(true);
pros::delay(500);
drive->moveDistance(6.5_ft);
drive->turnAngle(-45_deg);
drive->moveDistance(1_ft);
drive->moveDistance(-1_ft);
drive->moveDistance(1_ft);
drive->moveDistance(-1_ft);
}
if (autonpick == 8) {
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() > 400) {
drive->getModel()->curvature(12000, IMU.get_rotation() * -0.04);
// printf("%i\n", distforward.get());
pros::delay(10);
}
// piston.set_value(false);
drive->stop();
funnypiston.set_value(true);
pros::delay(500);
auto starttime = Timer().millis();
while (Timer().millis() < starttime + 1.5_s ) {
drive->getModel()->curvature(-6000 , IMU.get_rotation() * -0.04);
// printf("%i\n", distforward.get());
pros::delay(10);
}
// piston.set_value(false);
drive->stop();
funnypiston.set_value(true);
pros::delay(500);
drive->moveDistance(1_in);
// drive->turnAngle(15_deg);
//drive->moveDistance(-3.8_ft);
//drive->turnAngle(90_deg);
bool imuholdarray[10];
while (!is_held(imuholdarray, (abs(70.0 - IMU.get_rotation()) < 1)) ) {
drive->getModel()->rotate((70.0 - IMU.get_rotation()) * 0.008 );
pros::delay(10);
}
drive->getModel()->stop();
funnypiston.set_value(false);
drive->moveDistance(2_ft);
drive->moveDistance(-2_ft);
funnypiston.set_value(true);
drive->moveDistance(2_ft);
drive->moveDistance(-2_ft);
funnypiston.set_value(false);
// //drive->moveDistance(0_ft);
// pros::delay(300);
// drive->turnAngle(50_deg);
// pros::delay(300);
// drive->moveDistance(-1.5_ft);
}
}
/**
@ -782,7 +863,7 @@ void opcontrol() {
pull.moveRelative(
(900 -
temp), // pull.moveRelative((1800
//- std::fmod(pull.getPosition(),
//- std::fmod(pull.getPosition(),
// 1800)),
10000000);