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Idk cardinal stuff
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@BattleCh1cken
BattleCh1cken committed Feb 23, 2024
1 parent 7b6ced6 commit 52b454a
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Showing 4 changed files with 72 additions and 65 deletions.
4 changes: 2 additions & 2 deletions include/globals.hpp
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Expand Up @@ -50,8 +50,8 @@ inline auto flaps_piston = std::make_shared<pros::ADIDigitalOut>('C');
inline lib::Flaps flaps(flaps_piston);

// Hang
inline pros::ADIDigitalOut extra_piston_thingy({{6,'A'}});
inline auto extra_piston = std::make_shared<pros::ADIDigitalOut>(extra_piston_thingy);
// inline pros::ADIDigitalOut extra_piston_thingy({{6,'A'}});
inline auto extra_piston = std::make_shared<pros::ADIDigitalOut>('X');
inline auto hang_piston = std::make_shared<pros::ADIDigitalOut>('E');
inline lib::Hang hang(hang_piston, extra_piston);

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4 changes: 2 additions & 2 deletions include/lib/utils/auton_selector.hpp
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Expand Up @@ -4,8 +4,8 @@

// selector configuration
#define HUE 120 // color of theme from 0-360
#define DEFAULT 1
#define AUTONS "Offensive", "Defensive", "Skills", "Nothing"
#define DEFAULT 0
#define AUTONS "Offensive", "Defensive", "Nothing"

namespace lib {
namespace selector {
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120 changes: 62 additions & 58 deletions src/auton.cpp
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Expand Up @@ -7,7 +7,7 @@
#include "lib/subsystems/intake.hpp"
#include "lib/utils/auton_selector.hpp"
#include "main.h"
#include "pros/rtos.hpp"
#include "pros/rtos.hpp"

/**
* Runs the user autonomous code. This function will be started in its own task
Expand All @@ -26,40 +26,41 @@
void autonomous() {
switch (lib::selector::auton) {
case 1: // Offensive side

hang.set_state(lib::HangState::Expanded); //Release Intake
chassis.moveToPoint(0, 35, 2000); //Move In front Of goal
printf("offensive side\n");

hang.set_state(lib::HangState::Expanded); // Release Intake
chassis.moveToPoint(0, 35, 2000); // Move In front Of goal
chassis.waitUntilDone();
chassis.turnTo(20, 45, 1000); //turn to goal
intake.set_state(lib::IntakeState::Reversed); //outtake preload triball
chassis.turnTo(20, 45, 1000); // turn to goal
intake.set_state(lib::IntakeState::Reversed); // outtake preload triball
pros::delay(1000);
intake.set_state(lib::IntakeState::Idle);
chassis.turnTo(-30,29, 1000); //turn to middle bar triball
chassis.turnTo(-30, 29, 1000); // turn to middle bar triball
chassis.moveToPoint(-30, 25, 2000);
chassis.waitUntilDone();
intake.set_state(lib::IntakeState::Running); //intake middle bar triball
chassis.turnTo(0, 48, 2000); //turn towards goal
chassis.moveToPoint(-20, 40 ,1000);
intake.set_state(lib::IntakeState::Reversed); //outake middle bar triball
intake.set_state(lib::IntakeState::Running); // intake middle bar triball
chassis.turnTo(0, 48, 2000); // turn towards goal
chassis.moveToPoint(-20, 40, 1000);
intake.set_state(lib::IntakeState::Reversed); // outake middle bar
// triball
pros::delay(1000);
intake.set_state(lib::IntakeState::Idle);
chassis.moveToPoint(-40, 47,1000); //move to middle middle bar triball
chassis.moveToPoint(-40, 47, 1000); // move to middle middle bar triball
chassis.waitUntilDone();
intake.set_state(lib::IntakeState::Running); //intake this triball
intake.set_state(lib::IntakeState::Running); // intake this triball
pros::delay(2000);
chassis.turnTo(30, 45, 1000); //turn to goal
chassis.turnTo(30, 45, 1000); // turn to goal
chassis.waitUntilDone();
flaps.set_state(lib::FlapState::Expanded); //expand flaps
flaps.set_state(lib::FlapState::Expanded); // expand flaps
intake.set_state(lib::IntakeState::Reversed);
pros::delay(500);
chassis.moveToPoint(14, 48, 2000); //push in all four triballs
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);
hang.set_state(lib::HangState::Expanded);
chassis.moveToPoint(0, 48, 3000);
chassis.turnTo(-20, 48, 2000);
chassis.waitUntilDone();
Expand All @@ -70,81 +71,84 @@ void autonomous() {
chassis.waitUntilDone();
flaps.set_state(lib::FlapState::Idle);
*/


break;
case 2: // Defensive
//winpoint code
hang.set_state(lib::HangState::Expanded); //Release Intake
printf("Defensive side\n");
// winpoint code
hang.set_state(lib::HangState::Expanded); // Release Intake
pros::delay(2000);
chassis.turnTo(-45, 45, 1000);
chassis.moveToPoint(-10, 10, 1000); //unload triball from matchload zone
chassis.moveToPoint(-10, 10, 1000); // unload triball from matchload zone
chassis.waitUntilDone();
flaps.set_state(lib::FlapState::Expanded);
chassis.moveToPoint(8, 0, 2000, false); //move to starting points
chassis.moveToPoint(8, 0, 2000, false); // move to starting points
chassis.waitUntilDone();
flaps.set_state(lib::FlapState::Idle);
chassis.moveToPoint(-10, -10, 1500);//move back to start don't ask why its -10 bc the bot wasnt cooperating :/
chassis.moveToPoint(-10, -10,
1500); // move back to start don't ask why its -10 bc
// the bot wasnt cooperating :/
chassis.waitUntilDone();
chassis.turnTo(36, -15, 1000);//turn to bar
chassis.turnTo(36, -15, 1000); // turn to bar
pros::delay(2000);
chassis.moveToPoint(30, -8, 1000); //touch bar w ziptie


chassis.moveToPoint(30, -8, 1000); // touch bar w ziptie

break;
case 3: // Skills
hang.set_state(lib::HangState::Expanded);
case 0: // Skills
printf("Skills\n");
hang.set_state(lib::HangState::Expanded);
chassis.moveToPoint(-20, 0, 1000);
chassis.turnTo(24, 24, 1000);
chassis.moveToPoint(-17, 0, 1000, false); //back into zone for matchloading
chassis.moveToPoint(-17, 0, 1000,
false); // back into zone for matchloading
chassis.waitUntilDone();
flywheel.set_state(lib::FlywheelState::Spinning);//spin flywheel while touching match load zone
flywheel.set_state(
lib::FlywheelState::Spinning); // spin flywheel while touching match
// load zone
pros::delay(30000);
chassis.waitUntilDone();
hang.set_state(lib::HangState::Idle);
flywheel.set_state(lib::FlywheelState::Idle);
chassis.turnTo(0, -6, 1000);
chassis.moveToPoint(0, -6, 2000);//move back to starting point
chassis.moveToPoint(0, -6, 2000); // move back to starting point
chassis.waitUntilDone();
chassis.turnTo(60, 0, 1000);//turn towards other side
chassis.moveToPoint(75, 0, 4000);//move under bar to other side
chassis.turnTo(88, 45, 1000);//turn to goal
chassis.waitUntilDone();
chassis.moveToPose(91, 34, -90, 1500);//push into goal from side
chassis.turnTo(60, 0, 1000); // turn towards other side
chassis.moveToPoint(75, 0, 4000); // move under bar to other side
chassis.turnTo(88, 45, 1000); // turn to goal
chassis.waitUntilDone();
chassis.moveToPose(88, 5, 0, 2000, {.forwards=false});//move backwards
chassis.moveToPose(88, 50, 0, 2000);//push into goal from side
chassis.moveToPose(88, 0, 0, 2000, {.forwards=false});//move backwards
chassis.moveToPose(91, 34, -90, 1500); // push into goal from side
chassis.waitUntilDone();
chassis.moveToPose(88, 5, 0, 2000, {.forwards = false}); // move
// backwards
chassis.moveToPose(88, 50, 0, 2000); // push into goal from side
chassis.moveToPose(88, 0, 0, 2000, {.forwards = false}); // move
// backwards
chassis.turnTo(55, 40, 1000);
chassis.moveToPoint(55, 45, 3000); //move to middle bar
chassis.turnTo(85, 45, 1000);//face goal
chassis.moveToPoint(55, 45, 3000); // move to middle bar
chassis.turnTo(85, 45, 1000); // face goal
chassis.waitUntilDone();
flaps.set_state(lib::FlapState::Expanded);//open wings
chassis.moveToPoint(85, 45, 2000);//push into goal
chassis.moveToPoint(50, 45, 2000, false);//move back
flaps.set_state(lib::FlapState::Idle);//close wings
chassis.moveToPoint(60, 70, 2000);//move left to other side of goal
chassis.turnTo(70, 70, 1000); //turn to goal
flaps.set_state(lib::FlapState::Expanded); // open wings
chassis.moveToPoint(85, 45, 2000); // push into goal
chassis.moveToPoint(50, 45, 2000, false); // move back
flaps.set_state(lib::FlapState::Idle); // close wings
chassis.moveToPoint(60, 70, 2000); // move left to other side of goal
chassis.turnTo(70, 70, 1000); // turn to goal
chassis.waitUntilDone();
flaps.set_state(lib::FlapState::Expanded);//open wings
chassis.moveToPoint(75, 70, 2000);//push into goal
flaps.set_state(lib::FlapState::Expanded); // open wings
chassis.moveToPoint(75, 70, 2000); // push into goal
chassis.waitUntilDone();
chassis.moveToPoint(60, 65, 1500, false);

/*
chassis.moveToPoint(60, 55, 200
0, false);
flaps.set_state(lib::FlapState::Idle);
chassis.turnTo(55, 75, )
*/





break;
case 4: // Do nothing
case 3: // Do nothing
printf("nothing\n");
break;
}
}
9 changes: 6 additions & 3 deletions src/lib/subsystems/hang.cpp
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Expand Up @@ -2,23 +2,26 @@

#include <cstdio>
namespace lib {
Hang::Hang(std::shared_ptr<pros::ADIDigitalOut> i_piston, std::shared_ptr<pros::ADIDigitalOut> i_extra_piston) {
Hang::Hang(std::shared_ptr<pros::ADIDigitalOut> i_piston,
std::shared_ptr<pros::ADIDigitalOut> i_extra_piston) {
piston = i_piston;
extra_piston=i_extra_piston;
extra_piston = i_extra_piston;
};

void Hang::loop() {
switch (get_state()) {
case HangState::Expanded:
piston->set_value(true);
extra_piston->set_value(false);
break;
case HangState::Idle:
piston->set_value(false);
extra_piston->set_value(false);
break;
case HangState::Boosted:
piston->set_value(true);
extra_piston->set_value(true);
break;

}
}

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