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Copy pathauto7Disc.txt
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auto7Disc.txt
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#RED good 7
testFunct(relative, t, 0, t, 0.1, startTheChain)
shooterSetRPM(relative, label-end, startTheChain, 3500)
driveBasic(relative, label-end, startTheChain, e, -125, .5, startMovingBackward)
testFunct(relative, label-end, startTheChain, t, 0.5, waitForRobotToMove)
#armBasic(relative, label-end, startTheChain, ap, 1.96, -1, moveArmIntoPosition) this is the 3-point goal, old pot
armBasic(relative, label-end, waitForRobotToMove, ap, 2.96, -1, moveArmIntoPosition)
armBasic(relative, label-end, moveArmIntoPosition, t, 0.5, 0, stopArm)
shooterFire(relative, label-end, stopArm, t, 2, both, machinegun, 0.9, fireThemAll)
shooterSetRPM(relative, label-end, fireThemAll, 0)
#armBasic(relative, label-end, fireThemAll, ap, 0.66, -1, moveArmDownForDiscs)
armBasic(relative, label-end, fireThemAll, ap, 1.52, -1, moveArmDownForDiscs)
shooterStopFire(relative, label-end, moveArmDownForDiscs, t, 0.1, stopFiring)
driveBasic(relative, label-end, moveArmDownForDiscs, e, 1500, -.7, throughPyramid)
driveBasic(relative, label-end, throughPyramid, e, 300, -.25, endThroughPyramid)
driveBasic(relative, label-end, endThroughPyramid, t, 0.1, 0, stopDriveThroughPyramid)
driveBasic(relative, label-end, stopDriveThroughPyramid, e, -300, .5, backUpToPyramid)
driveBasic(relative, label-end, backUpToPyramid, t, 0.1, stopBackUpToPyramid)
intakeRun(relative, label-end, moveArmDownForDiscs, label-end, stopDriveThroughPyramid, pickUp4Discs)
intakeOff(relative, label-end, guessedTheHeight, t, 0.25, shutOffIntake)
armBasic(relative, label-end, stopDriveThroughPyramid, ap, 3.47, 1, guessedTheHeight)
armBasic(relative, label-end, guessedTheHeight, t, 0.25, 0, doneWithArm)
shooterSetRPM(relative, label-end, guessedTheHeight, 2500)
testFunct(relative, label-end, guessedTheHeight, t, 1.25, letShooterGetUpToSpeed)
shooterFire(relative, label-end, letShooterGetUpToSpeed, t, 15, both, machinegun, 0.9, fireSecondSalvo)
#set up a slower queueing constant in the command on the previous line ^^^
#shooterSetRPM(relative, label-end, fireThemAll, 0)
#shooterStopFire(relative, label-end, fireThemAll, t, 20)
##1.92, try 1.94 for two-point goal
#actual 1.96, try 2