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AscendRobotics
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} while (std::abs(finalValue) > 7);
return 0;
}
void flipRoller() {
//flips a roller, just like that
Intake.spin(forward, 11, volt);
while(Optical.hue() > 50 || !Optical.isNearObject()) {
RightMotors.spin(forward, 2, volt);
LeftMotors.spin(forward, 2, volt);
wait(20, msec);
}
Intake.stop();
}
void autonomousProgram(void) {
auton = true;
//wait until inertial is calibrated
while (Inertial1.isCalibrating()) {
wait(30, msec);
printControllerSetup();
Controller1.Screen.print("Calibrating Inertial");
}
int timerValue = Brain.Timer.value();
//run the autonomous program based on the autonType variable
if (autonType == 0) {
//testing one
aTurn(flywheelTargetRPM);
} else if (autonType == 1) {
//standard autonomous, left side roller + shoot 5 discs
flywheelOn = true;
flywheelTargetRPM = 2200; //45
motorPowerApprox = 0.73;
gain = 0.000123;
Intake.spin(forward, 11, volt);
aDriveFor(20, 300);
Intake.stop();
aDrive(-100);
//aTurn(-2); //;UNDO
drawMode = 0;
wait(1700, msec); ///UNDOO
fireIndexer();
wait(1100, msec);
fireIndexer();
wait(300, msec);
aDrive(-100);
motorPowerApprox = 0.61;
flywheelTargetRPM = 2160;
gain = 0.000093;
aTurn(119);
Intake.spin(reverse, 12, volt);
aDrive(750);
speedPID = 1;
aDrive(300);
aDrive(300);
speedPID = 1;
//aDriveFor(50, 2100);
//wait(200, msec);
aTurn(-89);
drawMode = 0;
//Intake.spin(forward, 12, volt);
wait(100, msec);
fireIndexer();
Intake.spin(reverse, 12, volt);
wait(350, msec);
fireIndexer();
tripleShooting = true;
wait(400, msec);
Intake.stop();
fireIndexer();
wait(400, msec);
tripleShooting = false;
flywheelOn = false;
flywheelTargetRPM = 1800;
gain = defaultGain;
} else if (autonType == 2) {
flywheelOn = true;
flywheelTargetRPM = 2120;
Intake.spin(reverse, 11, volt);
aDrive(700);
aTurn(150);
Intake.stop();
drawMode = 0;
wait(800, msec);
fireIndexer();
wait(200, msec);
fireIndexer();
wait(100, msec);
fireIndexer();
wait(200, msec);
flywheelTargetRPM = 2060;
aTurn(-96);
Intake.spin(reverse, 11, volt);
speedPID = .8;
aDrive(850);
speedPID = 1;
wait(100, msec);
//Intake.spin(forward, 6, volt);
aTurn(78);
Intake.spin(reverse, 11, volt);
fireIndexer();
wait(300, msec);