commit for worlds bot code

include/globals.hpp

@@ -68,12 +68,12 @@ inline lib::Intake intake(intake_motor);
 
 // Drivetrain
 // drive motors
-inline pros::Motor lF(-11, pros::E_MOTOR_GEAR_BLUE); // left front motor. port 12, reversed
-inline pros::Motor lM(-19, pros::E_MOTOR_GEARSET_06); // left middle motor. port 11, reversed
-inline pros::Motor lB(20, pros::E_MOTOR_GEARSET_06); // left back motor. port 1, reversed
-inline pros::Motor rF(1, pros::E_MOTOR_GEARSET_06); // right front motor. port 2
-inline pros::Motor rM(-8, pros::E_MOTOR_GEARSET_06); // right middle motor. port 11
-inline pros::Motor rB(10, pros::E_MOTOR_GEARSET_06); // right back motor. port 13
+inline pros::Motor lF(17, pros::E_MOTOR_GEAR_BLUE); // left front motor. port 12, reversed
+inline pros::Motor lM(18, pros::E_MOTOR_GEARSET_06); // left middle motor. port 11, reversed
+inline pros::Motor lB(19, pros::E_MOTOR_GEARSET_06); // left back motor. port 1, reversed
+inline pros::Motor rF(-12, pros::E_MOTOR_GEARSET_06); // right front motor. port 2
+inline pros::Motor rM(-13, pros::E_MOTOR_GEARSET_06); // right middle motor. port 11
+inline pros::Motor rB(-14, pros::E_MOTOR_GEARSET_06); // right back motor. port 13
 
 // motor groups
 inline pros::MotorGroup left_motors({lF, lM, lB}); // left motor group
@@ -110,21 +110,21 @@ inline lemlib::OdomSensors sensors{
 
 // linear motion controller
 inline lemlib::ControllerSettings linearController(
-    10,   // proportional gain (kP)
+    22,   // proportional gain (kP)
     0,    // integral gain (kI)
-    35,   // derivative gain (kD)
+    10,   // derivative gain (kD)
     3,    // anti windup
     1,    // small error range, in inches
-    100,  // small error range timeout, in milliseconds
-    3,    // large error range, in inches
-    500,  // large error range timeout, in milliseconds
-    40    // maximum acceleration (slew)
+    200,  // small error range timeout, in milliseconds
+    2,    // large error range, in inches
+    1000,  // large error range timeout, in milliseconds
+    5   // maximum acceleration (slew)
 );
 
 // angular motion controller
 inline lemlib::ControllerSettings angularController(
     2,     // proportional gain (kP)
-    0.01,  // integral gain (kI)
+    0,  // integral gain (kI)
     30,    // derivative gain (kD)
     3,     // anti windup
     1,     // small error range, in degrees

src/auton.cpp

@@ -32,56 +32,26 @@ void autonomous() {
   switch (lib::selector::auton) {
     case 1:  // Offensive side
       printf("offensive side\n");
-
-      intake.set_state(lib::IntakeState::Running);
-      pros::delay(1000);
-      chassis.moveToPoint(-4, 35, 1500);          // Move In front Of goal
-      chassis.waitUntilDone();
-      chassis.turnToPoint(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.turnToPoint(-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.turnToPoint(0, 48, 2000);                  // turn towards goal
-      chassis.moveToPoint(-20, 40, 1000);
-      intake.set_state(lib::IntakeState::Running);
-      chassis.moveToPoint(-40, 49, 1000);  // move to middle middle bar triball
-      chassis.waitUntilDone();
-      intake.set_state(lib::IntakeState::Running);  // intake this triball
-      pros::delay(2000);
-      chassis.turnToPoint(30, 45, 1000);  // turn to goal
-      chassis.waitUntilDone();
-      flaps.set_state(lib::FlapState::Expanded);  // expand flaps
-      intake.set_state(lib::IntakeState::Reversed);
-      chassis.moveToPoint(14, 39, 2000);  // push in all four triballs
-      chassis.waitUntilDone();
-      flaps.set_state(lib::FlapState::Idle);
-
-
+      chassis.moveToPoint(0, 10, 3000);
       /*
-      
-      intake.set_state(lib::IntakeState::Running);
       flaps.set_state(lib::FlapState::Expanded);
       chassis.turnToPoint(-32, 52, 1000);
       chassis.waitUntilDone();
       flaps.set_state(lib::FlapState::Idle);
-      chassis.moveToPoint(-32, 52, 2000);//move to middle triball 
+      chassis.moveToPoint(-35, 50, 2000);//move to middle triball 
       chassis.waitUntilDone();
-      chassis.turnToPoint(25, 45, 800);//turn to goal
+      
+      chassis.turnToPoint(25, 45, 1000);//turn to goal
       chassis.waitUntilDone();
       intake.set_state(lib::IntakeState::Reversed);
       flaps.set_state(lib::FlapState::Expanded); 
       chassis.moveToPoint(25, 45, 2000);//push into goal
       chassis.waitUntilDone();
-      /*
       flaps.set_state(lib::FlapState::Idle);
       intake.set_state(lib::IntakeState::Running);
       chassis.moveToPoint(-30, 27, 1500);//intake left middle triball
       chassis.waitUntilDone();
-      chassis.turnTo(25, 40, 1000);
+      chassis.turnToPoint(25, 40, 1000);
       chassis.waitUntilDone();
       intake.set_state(lib::IntakeState::Reversed);
       chassis.moveToPoint(25, 40, 2000);
@@ -111,7 +81,6 @@ void autonomous() {
       chassis.moveToPoint(5, 15, 1000, {.forwards=false});
 */
 
-
       /*
       FOUR BALL AUTONOMOUS 
       intake.set_state(lib::IntakeState::Running);

src/misc.cpp

@@ -19,8 +19,8 @@
  */
 
 void initialize() {
-  pros::lcd::initialize();
-  //lib::selector::init();
+  //pros::lcd::initialize();
+  lib::selector::init();
 
   flywheel.set_state(lib::FlywheelState::Idle);
   sylib::initialize();
@@ -41,7 +41,7 @@ void initialize() {
   led.gradient(0x8B3AFD, 0x7DFF29, 0, 0, false, true);
   led.cycle(*led, 1);
 
-
+/*
   
   pros::Task screenTask([=]() {
     while (true) {
@@ -52,7 +52,7 @@ void initialize() {
     }
   });
   
-
+  */
 }
 
 /**