shark/mobilerobotics
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add auton temp

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This commit is contained in:
shark 2019-04-07 16:34:30 -05:00
parent e8e9ac8f70
commit 157cde0558
1 changed files with 31 additions and 2 deletions
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33
main.c
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@ -137,8 +137,28 @@ void driveTiles(int numberOfTiles, bool direction) {
}
task autonomous() {
shootBall();
driveTiles(2, true); // Move 2 forward to hit bottom flag
//driveTiles(1, false);
driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag
driveTiles(1, REVERSE);
turnRight(1);
driveTiles(0.33, REVERSE); // Drive 1/3 of a tile backwards to hit the wall and align ourselves!
flipOn(); // Turn on the ball intake in reverse, which is what we can use to flip the caps
driveTiles(1.25, FORWARD); // flip cap
ballOff();
driveTiles(1, REVERSE);
turnLeft(1);
driveTiles(1, REVERSE);
turnRight(1);
driveTiles(0.33, REVERSE);
driveTiles(2.5, FORWARD);
ballIn();
delay(100);
driveTiles(0.1, FORWARD);
turnLeft(1);
driveTiles(0.33, REVERSE);
delay(1000);
ballOff();
shootBall();
}
void turnRight(int turns) {
while(turns * POINTS_PER_TURN < nMotorEncoder[1]){
@ -155,6 +175,15 @@ void clearEnc() { // Reset driving motor encoder values to 0
nMotorEncoder[1] = 0;
nMotorEncoder[2] = 0;
}
void flipOn() {
motor[bintake] = -MAX_SPEED;
}
void ballOff() {
motor[bintake] = 0;
}
void ballIn() {
motor[bintake] = MAX_SPEED;
}
task usercontrol() { // In user control mode
while (true) {
joystickDrive(); // Joystick mapping function