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change playback method

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This commit is contained in:
Cole Deck 2020-02-27 15:01:10 -06:00
parent 8a75f10c2f
commit 5e0a0ffd7d
5 changed files with 736 additions and 734 deletions
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build/38535A4.bin
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build/38535A4.map
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src/main.cpp
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@ -117,7 +117,8 @@ void autonomous(void) {
double pos = strtod(instructions.substr(0, y).c_str(), NULL); double pos = strtod(instructions.substr(0, y).c_str(), NULL);
instructions = instructions.substr(y + 1); instructions = instructions.substr(y + 1);
Controller1.Screen.print(vel); Controller1.Screen.print(vel);
LeftDriveSmart.rotateTo(pos, degrees, vel, velocityUnits::pct, false); LeftDriveSmart.setVelocity(vel, percent);
LeftDriveSmart.startSpinTo(pos, degrees);
y = instructions.find(" ", 5); y = instructions.find(" ", 5);
vel = strtod(instructions.substr(0, y).c_str(), NULL); vel = strtod(instructions.substr(0, y).c_str(), NULL);
@ -126,7 +127,8 @@ void autonomous(void) {
pos = strtod(instructions.substr(0, y).c_str(), NULL); pos = strtod(instructions.substr(0, y).c_str(), NULL);
instructions = instructions.substr(y + 1); instructions = instructions.substr(y + 1);
Controller1.Screen.print(vel); Controller1.Screen.print(vel);
RightDriveSmart.rotateTo(pos, degrees, vel, velocityUnits::pct, false); RightDriveSmart.setVelocity(vel, percent);
RightDriveSmart.startSpinTo(pos, degrees);
y = instructions.find(" ", 5); y = instructions.find(" ", 5);
vel = strtod(instructions.substr(0, y).c_str(), NULL); vel = strtod(instructions.substr(0, y).c_str(), NULL);
@ -149,7 +151,7 @@ void autonomous(void) {
y = instructions.find(" ", 5); y = instructions.find(" ", 5);
pos = strtod(instructions.substr(0, y).c_str(), NULL); pos = strtod(instructions.substr(0, y).c_str(), NULL);
TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false); TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
wait(20, msec); wait(10, msec);
} }
ifs.close(); ifs.close();
STOPCODE_DEBUG(); STOPCODE_DEBUG();