From 092a2cbbe34ca347e5595777207809070fcd9fb6 Mon Sep 17 00:00:00 2001
From: Cole Deck <shark@noreply.example.org>
Date: Wed, 10 Apr 2019 19:14:09 -0500
Subject: [PATCH] Update 'main.c'

---
 main.c | 104 ++++++++++++++++++++++++++++-----------------------------
 1 file changed, 52 insertions(+), 52 deletions(-)

diff --git a/main.c b/main.c
index 4de7762..a48187e 100644
--- a/main.c
+++ b/main.c
@@ -19,9 +19,10 @@
 
 // some variable definitions
 #define MAX_SPEED 127 // Max speed of the motors
+#define MAX_AUTO_SPEED 100 // Max speed of the driving motors during the autonomous code
 #define STOP 0
 #define DEADZONE 10
-
+#define DRIVE_OFFSET 10
 /*
   23.4 / (2 * pi * 2.075) * 672.2
   23.4 = inches in a tile
@@ -39,6 +40,13 @@
 #define FORWARD true
 #define REVERSE false
 
+void stopDriving() { // Stop all driving motors
+  motor[driveLB] = STOP;
+  motor[driveLF] = STOP;
+  motor[driveRB] = STOP;
+  motor[driveRF] = STOP;
+}
+
 void clearEnc() { // Reset driving motor encoder values to 0
     nMotorEncoder[driveRB] = 0;
     nMotorEncoder[driveLB] = 0;
@@ -53,28 +61,22 @@ void shootBall() {
 void turntoRight(float turns) {
 	clearEnc();
   while(turns * POINTS_PER_TURN > nMotorEncoder[driveLB]){
-    motor[driveLB] = 100;
-    motor[driveLF] = 100;
-    motor[driveRB] = -100;
-    motor[driveRF] = -100;
+    motor[driveLB] = MAX_AUTO_SPEED;
+    motor[driveLF] = MAX_AUTO_SPEED;
+    motor[driveRB] = -MAX_AUTO_SPEED;
+    motor[driveRF] = -MAX_AUTO_SPEED;
   }
-  motor[driveLB] = 0;
-  motor[driveLF] = 0;
-  motor[driveRB] = 0;
-  motor[driveRF] = 0;
+  stopDriving();
 }
 void turntoLeft(float turns) {
   clearEnc();
 	while(turns * POINTS_PER_TURN > nMotorEncoder[driveRB]){
-    motor[driveLB] = -100;
-    motor[driveLF] = -100;
-    motor[driveRB] = 100;
-    motor[driveRF] = 100;
+    motor[driveLB] = -MAX_AUTO_SPEED;
+    motor[driveLF] = -MAX_AUTO_SPEED;
+    motor[driveRB] = MAX_AUTO_SPEED;
+    motor[driveRF] = MAX_AUTO_SPEED;
   }
-  motor[driveLB] = 0;
-  motor[driveLF] = 0;
-  motor[driveRB] = 0;
-  motor[driveRF] = 0;
+  stopDriving();
 }
 
 
@@ -82,7 +84,7 @@ void flipOn() {
   motor[bintake] = -MAX_SPEED;
 }
 void ballOff() {
-  motor[bintake] = 0;
+  motor[bintake] = STOP;
 }
 void ballIn() {
   motor[bintake] = MAX_SPEED;
@@ -135,48 +137,47 @@ void driveTiles(float numberOfTiles, bool direction) {
     // when direction is true, move forward, otherwise go in reverse
 	clearEnc();
 	while(direction == FORWARD && numberOfTiles * TILE - 200 > nMotorEncoder[driveRB]) {
-			if(abs(nMotorEncoder[driveRB]) - 10 > nMotorEncoder[driveLB]) {
-    		motor[driveLB] = 100;
-    		motor[driveLF] = 100;
-      	motor[driveRB] = 90;
-    		motor[driveRF] = 90;
+			if(abs(nMotorEncoder[driveRB]) - DRIVE_OFFSET > nMotorEncoder[driveLB]) {
+    		motor[driveLB] = MAX_AUTO_SPEED;
+    		motor[driveLF] = MAX_AUTO_SPEED;
+      	motor[driveRB] = MAX_AUTO_SPEED - DRIVE_OFFSET;
+    		motor[driveRF] = MAX_AUTO_SPEED - DRIVE_OFFSET;
     	}
-      if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveRB]) {
-    		motor[driveLB] = 90;
-    		motor[driveLF] = 90;
-      	motor[driveRB] = 100;
-    		motor[driveRF] = 100;
+      if(abs(nMotorEncoder[driveLB]) - DRIVE_OFFSET > nMotorEncoder[driveRB]) {
+    		motor[driveLB] = MAX_AUTO_SPEED - DRIVE_OFFSET;
+    		motor[driveLF] = MAX_AUTO_SPEED - DRIVE_OFFSET;
+      	motor[driveRB] = MAX_AUTO_SPEED;
+    		motor[driveRF] = MAX_AUTO_SPEED;
     	} else {
-      	motor[driveLB] = 100;
-    		motor[driveLF] = 100;
-      	motor[driveRB] = 100;
-    		motor[driveRF] = 100;
+      	motor[driveLB] = MAX_AUTO_SPEED;
+    		motor[driveLF] = MAX_AUTO_SPEED;
+      	motor[driveRB] = MAX_AUTO_SPEED;
+    		motor[driveRF] = MAX_AUTO_SPEED;
     	}
 	}
     while(direction == REVERSE && numberOfTiles * TILE - 200 > -nMotorEncoder[driveRB]) {
-			if(abs(nMotorEncoder[driveRB]) - 10 > nMotorEncoder[driveLB]) {
-    		motor[driveLB] = -100;
-    		motor[driveLF] = -100;
-      	motor[driveRB] = -90;
-    		motor[driveRF] = -90;
+			if(abs(nMotorEncoder[driveRB]) - DRIVE_OFFSET > nMotorEncoder[driveLB]) {
+    		motor[driveLB] = -MAX_AUTO_SPEED;
+    		motor[driveLF] = -MAX_AUTO_SPEED;
+      	motor[driveRB] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
+    		motor[driveRF] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
     	}
-      if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveLB]) {
-    		motor[driveLB] = -90;
-    		motor[driveLF] = -90;
-      	motor[driveRB] = -100;
-    		motor[driveRF] = -100;
+      if(abs(nMotorEncoder[driveLB]) - DRIVE_OFFSET > nMotorEncoder[driveLB]) {
+    		motor[driveLB] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
+    		motor[driveLF] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
+      	motor[driveRB] = -MAX_AUTO_SPEED;
+    		motor[driveRF] = -MAX_AUTO_SPEED;
     	} else {
-      	motor[driveLB] = -100;
-    		motor[driveLF] = -100;
-      	motor[driveRB] = -100;
-    		motor[driveRF] = -100;
+      	motor[driveLB] = -MAX_AUTO_SPEED;
+    		motor[driveLF] = -MAX_AUTO_SPEED;
+      	motor[driveRB] = -MAX_AUTO_SPEED;
+    		motor[driveRF] = -MAX_AUTO_SPEED;
     	}
 	}
-	motor[driveLB] = 0;
-  motor[driveLF] = 0;
-  motor[driveRB] = 0;
-  motor[driveRF] = 0;
+	stopDriving();
 }
+
+
 task autonomous() {
 	turntoRight(0.03);
 	shootBall();
@@ -207,8 +208,7 @@ task autonomous() {
   ballOff();
   shootBall();
   driveTiles(0.05, REVERSE);
-  driveTiles(0.33, FORWARD); // Hit middle column bottom flag
-	//driveTiles(2, REVERSE);
+  driveTiles(0.33, FORWARD);
   wait(2);
 	turntoRight(1);
 	driveTiles(2.2, REVERSE);