Update 'main.c'

main.c

@@ -19,10 +19,10 @@
 
 // some variable definitions
 #define MAX_SPEED 127 // Max speed of the motors
-#define STOP 0 
+#define STOP 0
 #define DEADZONE 10
 
-/* 
+/*
   23.4 / (2 * pi * 2.075) * 672.2
   23.4 = inches in a tile
   2.075 = exact radius of 4" omniwheels
@@ -33,7 +33,7 @@
 #define TILE 1206
 
 // How much the wheels should spin in a 90 degree turn
-#define POINTS_PER_TURN 320 
+#define POINTS_PER_TURN 320
 
 // definitions for driveTiles()
 #define FORWARD true
@@ -41,12 +41,12 @@
 
 void clearEnc() { // Reset driving motor encoder values to 0
     nMotorEncoder[driveRB] = 0;
-    nMotorEncoder[driveLB] = 0;    
+    nMotorEncoder[driveLB] = 0;
 }
 
 void shootBall() {
   motor[shoot] = MAX_SPEED;
-  wait(1.25); // Shooting takes 1.25 seconds. 
+  wait(1.25); // Shooting takes 1.25 seconds.
   // Any unwanted extra movement will be undone by the rubber bands.
   motor[shoot] = STOP;
 }
@@ -54,12 +54,12 @@ void turntoRight(float turns) {
 	clearEnc();
   while(turns * POINTS_PER_TURN > nMotorEncoder[driveLB]){
     motor[driveLB] = 100;
-    motor[driveLF] = 100; 
+    motor[driveLF] = 100;
     motor[driveRB] = -100;
     motor[driveRF] = -100;
   }
   motor[driveLB] = 0;
-  motor[driveLF] = 0; 
+  motor[driveLF] = 0;
   motor[driveRB] = 0;
   motor[driveRF] = 0;
 }
@@ -67,16 +67,16 @@ void turntoLeft(float turns) {
   clearEnc();
 	while(turns * POINTS_PER_TURN > nMotorEncoder[driveRB]){
     motor[driveLB] = -100;
-    motor[driveLF] = -100; 
+    motor[driveLF] = -100;
     motor[driveRB] = 100;
     motor[driveRF] = 100;
-  }  
+  }
   motor[driveLB] = 0;
-  motor[driveLF] = 0; 
+  motor[driveLF] = 0;
   motor[driveRB] = 0;
   motor[driveRF] = 0;
 }
-      
+
 
 void flipOn() {
   motor[bintake] = -MAX_SPEED;
@@ -100,7 +100,7 @@ void joystickDrive() {
   if(abs(vexRT[Ch2]) > DEADZONE) {
     motor[driveRB] = vexRT[Ch2];
     motor[driveRF] = vexRT[Ch2];
-  } 
+  }
   else {
   	motor[driveRB] = STOP;
     motor[driveRF] = STOP;
@@ -131,24 +131,24 @@ void pre_auton() {
   bStopTasksBetweenModes = true;
 }
 
-void driveTiles(float numberOfTiles, bool direction) { 
+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[driveLF] = 100;
       	motor[driveRB] = 90;
     		motor[driveRF] = 90;
     	}
       if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveRB]) {
     		motor[driveLB] = 90;
-    		motor[driveLF] = 90; 
+    		motor[driveLF] = 90;
       	motor[driveRB] = 100;
     		motor[driveRF] = 100;
     	} else {
       	motor[driveLB] = 100;
-    		motor[driveLF] = 100; 
+    		motor[driveLF] = 100;
       	motor[driveRB] = 100;
     		motor[driveRF] = 100;
     	}
@@ -156,65 +156,68 @@ void driveTiles(float numberOfTiles, bool direction) {
     while(direction == REVERSE && numberOfTiles * TILE - 200 > -nMotorEncoder[driveRB]) {
 			if(abs(nMotorEncoder[driveRB]) - 10 > nMotorEncoder[driveLB]) {
     		motor[driveLB] = -100;
-    		motor[driveLF] = -100; 
+    		motor[driveLF] = -100;
       	motor[driveRB] = -90;
     		motor[driveRF] = -90;
     	}
       if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveLB]) {
     		motor[driveLB] = -90;
-    		motor[driveLF] = -90; 
+    		motor[driveLF] = -90;
       	motor[driveRB] = -100;
     		motor[driveRF] = -100;
     	} else {
       	motor[driveLB] = -100;
-    		motor[driveLF] = -100; 
+    		motor[driveLF] = -100;
       	motor[driveRB] = -100;
     		motor[driveRF] = -100;
     	}
 	}
 	motor[driveLB] = 0;
-  motor[driveLF] = 0; 
+  motor[driveLF] = 0;
   motor[driveRB] = 0;
   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(); // So we can pick up the ball!
+  ballIn();
+  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);
 	driveTiles(0.25, REVERSE);
 	driveTiles(3, FORWARD);
-	
+
 }
 task usercontrol() { // In user control mode
   while (true) {