NewAutoCode

src/auton.cpp

@@ -9,6 +9,9 @@
 #include "main.h"
 #include "pros/rtos.hpp"
 
+ASSET(firstpttwo_txt);
+ASSET(sixballend_txt);
+
 /**
  * Runs the user autonomous code. This function will be started in its own task
  * with the default priority and stack size whenever the robot is enabled via
@@ -22,6 +25,8 @@
  */
 
 // ASSET(to_bar_txt)
+//ASSET(path_jerryio_txt)
+//chassis.follow(path_jerryio_txt, 15, 5000);
 
 void autonomous() {
   switch (lib::selector::auton) {
@@ -57,7 +62,6 @@ void autonomous() {
       chassis.moveToPoint(14, 48, 2000);  // push in all four triballs
       chassis.waitUntilDone();
       flaps.set_state(lib::FlapState::Idle);
-
       /*
       //offensive w 9080c
       hang.set_state(lib::HangState::Expanded);
@@ -137,8 +141,11 @@ void autonomous() {
       flaps.set_state(lib::FlapState::Expanded);  // open wings
       chassis.moveToPoint(75, 70, 2000);          // push into goal
       chassis.waitUntilDone();
+      chassis.moveToPoint(50, 65, 1500, false);
+      chassis.waitUntilDone();
+      chassis.moveToPoint(75, 70, 2000);
+      chassis.waitUntilDone();
       chassis.moveToPoint(60, 65, 1500, false);
-
       /*
       chassis.moveToPoint(60, 55, 200
       0, false);

static/first.txt

@@ -0,0 +1,194 @@
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+-15.148, 54.993, 0
+-15.148, 54.993, 0
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+endData
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+200
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+#PATH.JERRYIO-DATA {"appVersion":"0.6.0","format":"LemLib v0.4.x (inch, byte-voltage)","gc":{"robotWidth":12,"robotHeight":12,"robotIsHolonomic":false,"showRobot":false,"uol":2.54,"pointDensity":2,"controlMagnetDistance":1.968503937007874,"fieldImage":{"displayName":"VRC 2024 - Over Under (Skill)","signature":"VRC 2024 - Over Under (Skill)","origin":{"__type":"built-in"}}},"paths":[{"segments":[{"controls":[{"uid":"Wgbd0vqjYj","x":-48.541567086268635,"y":-50.879090954713085,"lock":false,"visible":true,"heading":0,"__type":"end-point"},{"uid":"Zbzsl0jjqT","x":-34.69097922941432,"y":-42.72052550478519,"lock":false,"visible":true,"__type":"control"},{"uid":"ZcOMUSFQb7","x":-45.505821802574545,"y":-33.04408741301025,"lock":false,"visible":true,"__type":"control"},{"uid":"JrLst8lu4X","x":-8.317942077321835,"y":-34.941428215319064,"lock":false,"visible":true,"heading":0,"__type":"end-point"}],"speedProfiles":[],"lookaheadKeyframes":[],"uid":"AGc7zL7Mxr"},{"controls":[{"uid":"JrLst8lu4X","x":-8.317942077321835,"y":-34.941428215319064,"lock":false,"visible":true,"heading":0,"__type":"end-point"},{"uid":"iS4py2lFc4","x":-6.610335355243905,"y":-8.188922902764824,"lock":false,"visible":true,"__type":"control"},{"uid":"T1ybepsIOl","x":-1.8669833494718775,"y":20.27118913186735,"lock":false,"visible":true,"__type":"control"},{"uid":"32nmuLrIhF","x":-8.697410237783599,"y":36.58832003172313,"lock":false,"visible":true,"heading":0,"__type":"end-point"}],"speedProfiles":[],"lookaheadKeyframes":[],"uid":"DnZdjvDqg6"},{"controls":[{"uid":"32nmuLrIhF","x":-8.697410237783599,"y":36.58832003172313,"lock":false,"visible":true,"heading":0,"__type":"end-point"},{"uid":"YIcoeNIWqd","x":-41.711140197956915,"y":29.757893143411405,"lock":false,"visible":true,"__type":"control"},{"uid":"f4corScUSd","x":-49.490237487423045,"y":42.8495446793422,"lock":false,"visible":true,"__type":"control"},{"uid":"Fh4UTZTQbe","x":-41.52140611772603,"y":60.77941526116048,"lock":false,"visible":true,"heading":0,"__type":"end-point"}],"speedProfiles":[],"lookaheadKeyframes":[],"uid":"91XJ1YJrSF"},{"controls":[{"uid":"Fh4UTZTQbe","x":-41.52140611772603,"y":60.77941526116048,"lock":false,"visible":true,"heading":0,"__type":"end-point"},{"uid":"rBx6PMbVXj","x":36.838769017627875,"y":58.59747333850534,"lock":false,"visible":true,"heading":0,"__type":"end-point"}],"speedProfiles":[],"lookaheadKeyframes":[],"uid":"eaRpGksWGX"},{"controls":[{"uid":"rBx6PMbVXj","x":36.838769017627875,"y":58.59747333850534,"lock":false,"visible":true,"heading":0,"__type":"end-point"},{"uid":"nBXx075Rti","x":115.19894415298178,"y":56.4155314158502,"lock":false,"visible":true,"__type":"control"},{"uid":"V7clyzkyBN","x":10.845200025997158,"y":56.794999576311966,"lock":false,"visible":true,"__type":"control"},{"uid":"alYQxnHltT","x":-15.148368965633557,"y":54.9925258141186,"lock":false,"visible":true,"heading":0,"__type":"end-point"}],"speedProfiles":[],"lookaheadKeyframes":[],"uid":"TVSgLLlIz2"}],"pc":{"speedLimit":{"minLimit":{"value":0,"label":"0"},"maxLimit":{"value":127,"label":"127"},"step":1,"from":20,"to":100},"bentRateApplicableRange":{"minLimit":{"value":0,"label":"0"},"maxLimit":{"value":1,"label":"1"},"step":0.001,"from":0,"to":0.1},"maxDecelerationRate":127},"name":"Path","uid":"VN7eq3ZoVb","lock":false,"visible":true}]}