Tweak 6-ball autonomous and reduce turn speed

NoozAbooz · Apr 24, 2024 · 6891626 · 6891626
1 parent 6b32ff4
commit 6891626
Showing 1 changed file with 19 additions and 15 deletions.
diff --git a/src/auton/autonomous.cpp b/src/auton/autonomous.cpp
@@ -38,46 +38,50 @@ void autonomous() {
         case 1: // Skills
             break;
         case 2: // far side rush 6-ball inception
-            chassis.moveToPoint(0, 0, 1000);
+            chassis.moveToPoint(0, 0, 1);
             intake.move_voltage(12000);
-            pros::delay(200);
+            pros::delay(100);
             rightWingPiston.set_value(true);
             pros::delay(100);
             rightWingPiston.set_value(false);
-            chassis.moveToPoint(-7.66, 47.342, 1500);
+            chassis.moveToPoint(-7.66, 47.342, 1300);
             pros::delay(200);
-            chassis.moveToPoint(0, -5, 1250, {false});
+            chassis.moveToPoint(0, -5, 1300, {false});
             intake.move_voltage(0);
-            chassis.turnToHeading(90, 750);
+            chassis.turnToHeading(90, 400);
             intake.move_voltage(-12000);
-            pros::delay(1000);
+            pros::delay(600);
             intake.move_voltage(12000);
-            chassis.moveToPoint(-25.469, -8.043, 1250);
+            chassis.turnToHeading(270, 400);
+            chassis.moveToPoint(-25.469, -8.043, 750);
             chassis.moveToPoint(9.192, -6.128, 1000, {false, 127});
             intake.move_voltage(0);
             chassis.moveToPoint(26.618, 8.617, 1000, {false, 127});
              tailPiston.set_value(true);
             chassis.moveToPoint(26.043, 24.894, 1000, {false, 127});
             tailPiston.set_value(false);
-            chassis.moveToPoint(23.277, 7.851, 750); 
-            chassis.turnToHeading(0,1000);
+            chassis.moveToPoint(23.277, 10.851, 750); 
+            chassis.turnToHeading(0,500);
             rightWingPiston.set_value(true);   
-            chassis.moveToPoint(23.66, 24.703, 1000);
-            chassis.moveToPoint(23.341, 10.468, 1000, {false});
-            chassis.turnToHeading(315, 750);
+            chassis.moveToPoint(23.66, 24.703, 750);
+            chassis.moveToPoint(23.341, 7.468, 1000, {false});
+            chassis.turnToHeading(310, 500);
             rightWingPiston.set_value(false);
             intake.move_voltage(12000);
+            pros::delay(100);
             chassis.moveToPoint(-25.086, 26.235, 1000);
-            pros::delay(200);
-            chassis.turnToHeading(75, 750);
+            chassis.turnToHeading(70, 500);
             chassis.moveToPoint(13.213, 39.065, 750);
             chassis.moveToPoint(-16, 56.363, 500, {false});
             intake.move_voltage(12000);
+            pros::delay(200);
+            chassis.turnToHeading(270, 500);
             chassis.moveToPoint(-26.426, 56.363, 1000);
+            chassis.turnToHeading(90, 500);
             leftWingPiston.set_value(true);
             rightWingPiston.set_value(true);
             chassis.moveToPoint(12.639, 56.938, 1000);
-            chassis.moveToPoint(0.639, 56.938, 1000, {false});
+            chassis.moveToPoint(0.639, 56.938, 450, {false});
             break;
         case 3: // close side awp disrupt
             chassis.moveToPoint(0, 0, 1000);