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done with loss
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Zach Phelps committed Jan 27, 2021
1 parent ccab368 commit 09dd5ab
Showing 1 changed file with 104 additions and 80 deletions.
184 changes: 104 additions & 80 deletions src/Utilities/autonomous.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -271,7 +271,7 @@ void two_goal_and_middle_left()
drive.withGains(0.3, 0, 0, 40).move(6, -180, 0); //8
drive.drivePower(45, 45);
intake.score(ONE_BALL);
while (!intakeBallDetected(BLUE_ID) && time < 2500)
while (!intakeBallDetected(RED_ID) && time < 2500) //BLUE_ID
{
intake.intake(127, 127, 0);
wait(1);
Expand All @@ -284,8 +284,8 @@ void two_goal_and_middle_left()
drive.withGains(6, 0, 0, 20).moveBackToXCoord(26, -180, 0);
drive.withTurnGains(1.25, 0, 0, 25).turn(0);
intake.intake(127, 0, 0);
drive.withGains(0.2, 0, 0, 30).move(6, 0, 0);
drive.withTurnGains(2, 0, 0, 35).sweepLeft(-25, 5, 2);
drive.withGains(0.2, 0, 0, 30).move(5, 0, 0);
drive.withTurnGains(2, 0, 0, 40).sweepLeft(-25, 5, 8);
intake.stop();
drive.timedDrive(600, 127, 10);
intake.score(ONE_BALL, 1000);
Expand Down Expand Up @@ -315,36 +315,54 @@ void two_goal_and_middle_left()

void two_goal_right()
{
long startTime = pros::millis();
int time = 0;
setCoordinates(0, 24, 0);
setCoordinates(0, 128, -90);
intake.indexer(60, 150);
intake.intake(127, 127, 0);
drive.withTurnGains(1.5, 0, 0, 25).sweepRight(135, 0);
drive.withGains(0.2, 0, 0, 35).move(8, 135, 0);
drive.timedDrive(300, 30, 30); //300
drive.withTurnGains(1.5, 0, 0, 35).sweepLeft(-135, 15, 15);
intake.stop();
drive.drivePower(15, 40);
intake.indexer(-127, 250);
wait(100);
intake.stop();
intake.score(ONE_BALL, 2000);
wait(200);

intake.score(ONE_BALL);
intake.intake(0, 127, 0);

drive.move(-6, 135, 0, false, true); //10
drive.withTurnGains(5, 0, 0, 100).sweepLeftBack(90, 0, 15);
drive.withCorrection(0.6).withGains(6, 0, 0, 30).moveBackToYCoord(56, 90, 0); //0.8
drive.move(-6, -135, 0, false, true); //10
drive.withTurnGains(5, 0, 0, 100).sweepRightBack(-90, 0, 15);
intake.intake(127, 0, 0);
drive.withCorrection(0.6).withGains(6, 0, 0, 30).moveBackToYCoord(83, -90, 0); //0.8, 88
intake.stop();

drive.withTurnGains(1.3, 0, 0, 20).turn(180);
drive.withGains(0.3, 0, 0, 40).move(10, 180, 0); //8
drive.timedDrive(100, 30, 30);
drive.drivePower(30, 30);
drive.withTurnGains(1.4, 0, 0, 20).turn(-180); //1.25
drive.withGains(0.3, 0, 0, 40).move(6, -180, 0); //8
drive.drivePower(45, 45);
intake.score(ONE_BALL);
while (!intakeBallDetected(BLUE_ID))
while (!intakeBallDetected(BLUE_ID) && time < 2500)
{
intake.intake(127, 127, 0);
wait(1);
time++;
}
intake.stop();
intake.score(ONE_BALL);
//intake.score(ONE_BALL);
intake.frontRollers(-127);

drive.withGains(0.15, 0, 0, 30).move(-14, 180, 2);
drive.withGains(6, 0, 0, 20).moveBackToXCoord(26, -180, 0);
// drive.withTurnGains(1.25, 0, 0, 25).turn(0);
// intake.intake(127, 0, 0);
// drive.withGains(0.2, 0, 0, 30).move(6, 0, 0);
// drive.withTurnGains(2, 0, 0, 35).sweepLeft(-25, 5, 2);
// intake.stop();
// drive.timedDrive(600, 127, 10);
// intake.score(ONE_BALL, 1000);
// while (pros::millis() - startTime < 14500)
// {
// wait(1);
// }
// drive.timedDrive(500, -127, -127);
}

void two_goal_left()
Expand Down Expand Up @@ -948,27 +966,30 @@ void programming_skills()
intake.stop();
intake.frontRollers(127);

drive.drivePower(-20, -20);
intake.scoreWithVision();
time = 0;
while (topBallDetected(RED_ID) && time < 1000)
{
if (topRollerLine.get_value() < BALL_DETECTED_SIGNATURE)
{
intake.intake(127, 0, 0);
}
else
{
intake.intake(127, 127, 60);
}
drive.drivePower(20, 20); //20
wait(1);
time++;
}
drive.drivePower(10, 10);
drive.drivePower(-15, -15);
intake.score(ONE_BALL);
intake.stop();
intake.score(ONE_BALL, 1500);
wait(250);
// drive.drivePower(-15, -15);
// intake.scoreWithVision();
// time = 0;
// while (topBallDetected(RED_ID) && time < 500)
// {
// if (topRollerLine.get_value() < BALL_DETECTED_SIGNATURE)
// {
// intake.intake(127, 0, 0);
// }
// else
// {
// intake.intake(127, 0, 0);
// }
// drive.drivePower(20, 20); //20
// wait(1);
// time++;
// }
// drive.drivePower(10, 10);
// intake.stop();
// intake.score(ONE_BALL, 1500);
// wait(250);

intake.intake(127, -30, 0);
drive.withGains(10, 0, 0, 30).moveBackToYCoord(20, 135, 0, true); //10
Expand Down Expand Up @@ -1005,7 +1026,7 @@ void programming_skills()
intake.score(TWO_BALLS);
setCoordinates(getX(), 2, getTheta());
intake.frontRollers(127);
drive.timedDrive(150, 50, 50); //100, 60, 60
drive.timedDrive(200, 50, 50); //100, 60, 60
intake.intake(127, -5, 0);
wait(100);

Expand All @@ -1014,14 +1035,14 @@ void programming_skills()
drive.withTurnGains(1.25, 0, 0, 30).turn(0);
intake.intake(127, 127, -127);

drive.withGains(0.1, 0, 0, 40).moveWithVision(38, 0, 0, RED_ID, true, true); //38
drive.withGains(0.1, 0, 0, 40).moveWithVision(40, 0, 0, RED_ID, true, true); //38
if (intakeBallDetected(RED_ID))
{
intake.intake(127, 0, 0);
}
drive.waitForComplete();
intake.intake(127, 0, 0);
drive.untilLineDetected(25); //30
drive.untilLineDetected(30); //30
setCoordinates(120, getY(), 0);
intake.intake(127, 0, 0);
drive.withTurnGains(1.25, 0, 0, 25).turn(90); //1.3, 30
Expand All @@ -1043,6 +1064,7 @@ void programming_skills()
intake.scoreWithVision(1000);
//intake.intake(-127, -127, 0);

intake.intake(127, -127, -60);
drive.withGains(0.2, 0, 0, 35).move(-10, 45, 0); //30
if (intakeLimit.get_value() == 1 || topRollerLine.get_value() < BALL_DETECTED_SIGNATURE)
{
Expand All @@ -1059,15 +1081,15 @@ void programming_skills()

drive.withTurnGains(1.2, 0, 0, 25).turn(0); //1.35, 25
intake.intake(127, 0, 0);
drive.withGains(0.25, 0, 0, 100).move(12, 0, 0, false, true);
drive.withGains(0.25, 0, 0, 30).moveWithVision(13, 0, 0, BLUE_ID, false, true);
drive.withGains(0.25, 0, 0, 100).move(9, 0, 0, false, true);
drive.withGains(0.2, 0, 0, 30).moveWithVision(16, 0, 0, BLUE_ID, false, true);
//drive.move(28, 0, 2);
intake.stop();
drive.timedDrive(300, 30, 30);

intake.score(ONE_BALL, 1000); //500
intake.intake(127, 0, 0);
drive.timedDrive(100, 35, 35); //40, 40
drive.timedDrive(50, 35, 35); //100, 40, 40

drive.untilLineDetected(-30);
setCoordinates(120, getY(), 0);
Expand Down Expand Up @@ -1105,7 +1127,7 @@ void programming_skills()
wait(250);
intake.intake(-127, 0, 0);

drive.withCorrection(0.3).withGains(8, 0, 0, 35).moveBackToYCoord(79, -90, 0); //80 , 0.5, 30
drive.withCorrection(0.3).withGains(6, 0, 0, 35).moveBackToYCoord(79, -90, 0); //79 , 0.3, 35
intake.intake(-127, 30, 0);
drive.withTurnGains(1.35, 0, 0, 30).turn(-180); //1.25
intake.intake(127, 0, 0);
Expand Down Expand Up @@ -1142,16 +1164,16 @@ void programming_skills()
// drive.move(32, -180, 0);

drive.withTurnGains(1.35, 0, 0, 30).turn(-90);
drive.timedDrive(600, -60, -60);
drive.timedDrive(800, -60, -60); //600

drive.withGains(0.3, 0, 0, 50).move(5, -90, 0);
drive.timedDrive(600, -60, -60);
// drive.withGains(0.3, 0, 0, 50).move(5, -90, 0);
// drive.timedDrive(800, -60, -60);

// drive.withGains(0.3, 0, 0, 50).move(5, -90, 0);
// drive.timedDrive(600, -60, -60);

//intake.frontRollers(127);
drive.withGains(0.2, 0, 0, 30).move(38, -90, 0, true, true); //38, -92
drive.withGains(0.15, 0, 0, 30).move(38, -86, 0, true, true); //38, -92
// drive.withGains(0.25, 0, 0, 100).move(12, -90, 0, false, true); //10
// drive.withGains(0.25, 0, 0, 40).moveWithVision(12, -90, 0, BLUE_ID, false, true);
time = 0;
Expand All @@ -1171,7 +1193,7 @@ void programming_skills()
}
drive.waitForComplete();
intake.intake(127, 0, 0);
drive.timedDrive(300, 30, 30);
drive.timedDrive(500, 35, 35);
intake.stop();

intake.score(TWO_BALLS);
Expand All @@ -1183,23 +1205,25 @@ void programming_skills()
drive.withCorrection(0.15).withGains(0.2, 0, 0, 30).move(-32, -50, 0); //-32, 0.4
intake.stop();
drive.withTurnGains(1.345, 0, 0, 30).turn(50); //1.25, 20
intake.intake(127, 50, 0);
//drive.move(6, 50, 0, false, true); //8
drive.timedDrive(750, 60, 60); //500
intake.stop();

intake.score(ONE_BALL);
drive.timedDrive(500, 60, 60);

//intake.intake(127, 127, -127);
drive.withGains(0.25, 0, 0, 35).move(-6, 60, 0);
drive.withTurnGains(1.35, 0, 0, 30).turn(125); //1.25
drive.withTurnGains(1.45, 0, 0, 30).turn(125); //1.25
intake.intake(127, 127, -127);

drive.withGains(0.2, 0, 0, 30).moveWithVision(14, 125, 0, RED_ID, false, true); //6
drive.withGains(0.2, 0, 0, 35).move(12, 125, 0, false, true); //6
intake.intake(127, 127, 0);
drive.withTurnGains(1.35, 0, 0, 30).turn(180);
// drive.sweepRight(180, -20, 10); //-15
//drive.withCorrection(0.1).withGains(0.2, 0, 0, 40).move(32, 181, 0, false, true); //32
drive.withCorrection(0.1).withGains(0.3, 0, 0, 90).move(20, 181, 0, false, true); //32
drive.withCorrection(0.1).withGains(0.3, 0, 0, 90).move(20, 182, 0, false, true); //32
drive.withGains(0.15, 0, 0, 40).moveWithVision(14, 181, 0, BLUE_ID, false, true); //32
intake.stop();
drive.timedDrive(300, 60, 60); //750, 30, 30
Expand Down Expand Up @@ -1749,7 +1773,7 @@ void autonomous()
//two_goal_and_middle_left();
//programming_skills_126();
//home_row_left_no_cycle_with_center();
programming_skills();
// programming_skills();
// two_goal_and_middle_left();
//corner_side_center_right();
//home_row_left_no_cycle();
Expand Down Expand Up @@ -1789,29 +1813,29 @@ void autonomous()
//two_goal_right();
// two_goal_left();

// switch (autonIndex)
// {
// case 0:
// home_row_right_no_cycle();
// break;
// case 1:
// home_row_right_cycle();
// break;
// case 2:
// home_row_left_no_cycle();
// break;
// case 3:
// home_row_left_no_cycle_with_center();
// break;
// case 4:
// two_goal_right();
// break;
// case 5:
// two_goal_and_middle_left();
// break;
// case 6:
// programming_skills();
// //two_goal_and_middle_left();
// break;
// }
switch (autonIndex)
{
case 0:
home_row_right_no_cycle();
break;
case 1:
home_row_right_cycle();
break;
case 2:
home_row_left_no_cycle();
break;
case 3:
home_row_left_no_cycle_with_center();
break;
case 4:
two_goal_right();
break;
case 5:
two_goal_and_middle_left();
break;
case 6:
programming_skills();
//two_goal_and_middle_left();
break;
}
}

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