Update 'main.c'

main.c

@@ -178,37 +178,40 @@ void driveTiles(float numberOfTiles, bool direction) {
   motor[driveRF] = 0;
 }
 task autonomous() {
-	turntoRight(0.05);
+	turntoRight(0.03);
 	shootBall();
-	turntoLeft(0.05);
+	turntoLeft(0.03);
 	driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag
   driveTiles(1, REVERSE);
   turntoRight(1);
   driveTiles(0.5, 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(1.5, FORWARD); // flip cap
+  driveTiles(1.6, FORWARD); // flip cap
   ballOff();
-  driveTiles(1.25, REVERSE);
+  driveTiles(1.35, REVERSE);
   turntoLeft(1);
   driveTiles(1, REVERSE);
   turntoRight(1);
   driveTiles(0.6, REVERSE);
-  driveTiles(2.5, FORWARD); // Flip the other cap without turning on the spinner
+  driveTiles(2.1, FORWARD); // Flip the other cap without turning on the spinner
   flipOn();
   driveTiles(0.5, FORWARD);
-  driveTiles(0.1, FORWARD);
+  ballIn();
-  ballIn(); // So we can pick up the ball!
+  driveTiles(0.1, REVERSE);
+   // So we can pick up the ball!
   wait(3);
-  driveTiles(0.1, FORWARD);
+  driveTiles(0.1, REVERSE);
   turntoLeft(1);
-  driveTiles(0.25, REVERSE);
+  driveTiles(0.2, REVERSE);
   wait(3);
   ballOff();
   shootBall();
-  driveTiles(0.25, FORWARD); // Hit middle column bottom flag
+  driveTiles(0.05, REVERSE);
+  driveTiles(0.33, FORWARD); // Hit middle column bottom flag
 	//driveTiles(2, REVERSE);
+  wait(2);
 	turntoRight(1);
-	driveTiles(2.5, REVERSE);
+	driveTiles(2.2, REVERSE);
 	turntoLeft(1);
 	driveTiles(1, REVERSE);
 	turntoRight(1);