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AscendRobotics
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AscendData

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aDriveFor(20, 100);
aDriveFor(50, 200);
Intake.stop();
aDriveFor(100, 500);
wait(400, msec);
aDriveFor(70, 600);
} else if (autonType == 3) {
//start out by lowering intake and scraper
Scraper.set(true);
Intake.spin(reverse, 5, volt);
//get triball out of match load zone
wait(400, msec);
aTurn(35);
Scraper.set(false);
driveDistance = 153;
turnPID(true);
Intake.stop();
//shove alliance triball preload into goal
wait(100, msec);
wait(70, msec);
aDrive(1000);
Intake.spin(forward, 11, volt);
wait(1500, msec);
Intake.stop();
wait(50, msec);
//back up and drive to the elevation bar
aDrive(-1400);
driveDistance = 0;
turnPID(true);
turnPID(true);
wait(100, msec);
aDrive(100);
driveDistance = 45;
turnPID(true);
turnPID(true);
Intake.spin(forward, 5, volt);
//go forward the right distance, based on the distance sensor.
aDrive(1300);
if (WallDistance.objectDistance(inches) < 55){
aDrive(100);
}
if (WallDistance.objectDistance(inches) < 55){
aDrive(100);
}
if (WallDistance.objectDistance(inches) < 55){
aDrive(100);
}
if (WallDistance.objectDistance(inches) < 55){
aDrive(100);
}
Intake.stop();
} else if (autonType == 4) {
//better near side auton
//start out by lowering intake and scraper
Scraper.set(true);
Intake.spin(reverse, 11, volt);
//get triball out of match load zone
aTurn(35);
Scraper.set(false);
driveDistance = 114;
turnPID(true);
Intake.spin(reverse, 5, volt);
//push preload in goal
aDrive(2400);
driveDistance = 215;
turnPID(true);
Intake.spin(forward, 11, volt);
wait(500, msec);
Intake.stop();
//push two green triballs onto the other offensive zone
driveDistance = 100;
turnPID(true);
Intake.spin(reverse, 11, volt);
aDrive(350);
Intake.spin(reverse, 7, volt);
aTurn(-60);
Intake.stop();
Wings1.set(true);
Wings2.set(true);
Intake.spin(forward, 11, volt);
aDrive(1080);
aDriveFor(70, 300);
Wings1.set(false);
Wings2.set(false);
wait(100, msec);
//go to elevation bar
driveDistance = -87;
turnPID(true);
Intake.stop();
aDrive(3000);
aTurn(115);
Intake.spin(forward, 11, volt);
aDrive(2200);
Intake.stop();
Intake.spin(forward, 5, volt);
//go forward the right distance, based on the distance sensor.
if (WallDistance.objectDistance(inches) < 54){
aDrive(100);
}
if (WallDistance.objectDistance(inches) < 54){