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Update 'main.c'

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This commit is contained in:
Cole Deck 2019-04-10 17:31:05 -05:00
parent 79b42cae9a
commit 52471a17a5
1 changed files with 35 additions and 32 deletions
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25
main.c
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@ -178,37 +178,40 @@ void driveTiles(float numberOfTiles, bool direction) {
motor[driveRF] = 0; motor[driveRF] = 0;
} }
task autonomous() { task autonomous() {
turntoRight(0.05); turntoRight(0.03);
shootBall(); shootBall();
turntoLeft(0.05); turntoLeft(0.03);
driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag
driveTiles(1, REVERSE); driveTiles(1, REVERSE);
turntoRight(1); turntoRight(1);
driveTiles(0.5, REVERSE); // Drive 1/3 of a tile backwards to hit the wall and align ourselves! 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 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(); ballOff();
driveTiles(1.25, REVERSE); driveTiles(1.35, REVERSE);
turntoLeft(1); turntoLeft(1);
driveTiles(1, REVERSE); driveTiles(1, REVERSE);
turntoRight(1); turntoRight(1);
driveTiles(0.6, REVERSE); 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(); flipOn();
driveTiles(0.5, FORWARD); 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); wait(3);
driveTiles(0.1, FORWARD); driveTiles(0.1, REVERSE);
turntoLeft(1); turntoLeft(1);
driveTiles(0.25, REVERSE); driveTiles(0.2, REVERSE);
wait(3); wait(3);
ballOff(); ballOff();
shootBall(); 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); //driveTiles(2, REVERSE);
wait(2);
turntoRight(1); turntoRight(1);
driveTiles(2.5, REVERSE); driveTiles(2.2, REVERSE);
turntoLeft(1); turntoLeft(1);
driveTiles(1, REVERSE); driveTiles(1, REVERSE);
turntoRight(1); turntoRight(1);