TheEndIsNeverTheEndIsNeverTheEndIsNeverTheEndIsNe

RIT-VEX-U · May 1, 2024 · 25c124b · 25c124b
1 parent 5775828
commit 25c124b
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Showing 4 changed files with 25 additions and 18 deletions.
diff --git a/.vscode/vex_project_settings.json b/.vscode/vex_project_settings.json
@@ -4,12 +4,12 @@
 		"json": 2
 	},
 	"project": {
-		"name": "Jover_BLUE",
+		"name": "Jover_RED",
 		"description": "",
-		"creationDate": "Tue, 30 Apr 2024 13:14:06 GMT",
+		"creationDate": "Tue, 30 Apr 2024 19:05:50 GMT",
 		"platform": "V5",
 		"language": "cpp",
-		"slot": 2,
+		"slot": 1,
 		"sdkVersion": "V5_20240223_11_00_00",
 		"cpp": {
 			"includePath": [],

diff --git a/src/automation.cpp b/src/automation.cpp
@@ -12,8 +12,8 @@
 vision_filter_s default_vision_filter = {
   .min_area = 2000,
   .max_area = 1000000,
-  .aspect_low = 0.6,
-  .aspect_high = 1.6,
+  .aspect_low = 0.5,
+  .aspect_high = 2,
 
   .min_x = 0,
   .max_x = 320,

diff --git a/src/competition/autonomous.cpp b/src/competition/autonomous.cpp
@@ -8,7 +8,7 @@
 #define FWD vex::directionType::fwd
 #define REV vex::directionType::rev
 
-#define SIDE BLUE
+#define SIDE RED
 
 enum Side { LEFT, RIGHT };
 
@@ -125,7 +125,7 @@ class DebugCommand : public AutoCommand {
   }
 };
 
-// #define ELIMS
+#define ELIMS
 
 void awp_auto() {
   if (cata_sys.get_cata_state() != CataOnlyState::CataOff)
@@ -141,7 +141,7 @@ void awp_auto() {
 
   static int vis_tball_num = 0;
   #ifdef ELIMS
-  #define END_EARLY_TIME 40
+  #define END_EARLY_TIME 45
   #else
   #define END_EARLY_TIME 37
   #endif
@@ -211,10 +211,10 @@ void awp_auto() {
       new FunctionCommand([](){
 
         const vision_filter_s filter = {
-          .min_area = 2200,
+          .min_area = 2000,
           .max_area = 1000000,
-          .aspect_low = 0.6,
-          .aspect_high = 1.5,
+          .aspect_low = 0.5,
+          .aspect_high = 2,
 
           .min_x = 0,
           .max_x = 320,
@@ -225,7 +225,7 @@ void awp_auto() {
         drive_sys.drive_tank_raw(-0.5, 0.5);
 
         // After reaching a max heading, stop scanning
-        if(odom.get_position().rot > 225)
+        if(odom.get_position().rot > 270)
         {
           end_vision_scan = true;
           return true;
@@ -240,7 +240,7 @@ void awp_auto() {
         new FunctionCondition([]() -> bool {return end_vision_scan;}),
         new InOrder{ // FALSE - do NOT end vision scan, start tracking the ball
           cata_sys.IntakeToHold(),
-          (new VisionTrackTriballCommand())->withCancelCondition(new IsCrossingYValCondition(71)),
+          (new VisionTrackTriballCommand())->withCancelCondition((new IsCrossingYValCondition(71))->Or(drive_sys.DriveStalledCondition(1))),
           new FunctionCommand(light_off),
           drive_sys.DriveToPointCmd({98, 61}, REV),
           drive_sys.TurnToHeadingCmd(0),
@@ -272,8 +272,8 @@ void awp_auto() {
         const vision_filter_s filter = {
           .min_area = 2000,
           .max_area = 1000000,
-          .aspect_low = 0.6,
-          .aspect_high = 1.6,
+          .aspect_low = 0.5,
+          .aspect_high = 2,
 
           .min_x = 0,
           .max_x = 320,
@@ -284,7 +284,7 @@ void awp_auto() {
         drive_sys.drive_tank_raw(-0.5, 0.5);
 
         // After reaching a max heading, stop scanning
-        if(odom.get_position().rot > 225)
+        if(odom.get_position().rot > 270)
         {
           end_vision_scan = true;
           return true;
@@ -300,7 +300,8 @@ void awp_auto() {
         (new InOrder{ // USE VISION
           cata_sys.IntakeToHold(),
           (new VisionTrackTriballCommand())->withCancelCondition(drive_sys.DriveStalledCondition(2)),
-          drive_sys.DriveForwardCmd(3, REV),
+          drive_sys.DriveToPointCmd({92, 57}, REV),
+          // drive_sys.DriveForwardCmd(3, REV),
           drive_sys.TurnToHeadingCmd(0),
           cata_sys.Unintake(),
           drive_sys.DriveForwardCmd(100, FWD, 0.5)->withTimeout(1),
@@ -320,6 +321,7 @@ void awp_auto() {
     new FunctionCommand(light_off),
     #ifdef ELIMS
     drive_sys.TurnToHeadingCmd(305),
+    // new DelayCommand(3),
     drive_sys.DriveToPointCmd({122, 14}, FWD),
     drive_sys.TurnToHeadingCmd(55),
     #else

diff --git a/src/robot-config.cpp b/src/robot-config.cpp
@@ -1,4 +1,5 @@
 #include "robot-config.h"
+#include "../core/include/subsystems/fun/video.h"
 brain Brain;
 controller con;
 #define COMP_BOT
@@ -210,14 +211,18 @@ std::vector<screen::Page *> pages;
  */
 void robot_init() {
 
+  set_video("funky_low.mpeg");
+
+
   pages = {
     new AutoChooser({"Auto 1", "Auto 2", "Auto 3", "Auto 4"}),
     new screen::OdometryPage(odom, 12, 12, true),
     cata_sys.Page(),
     new screen::StatsPage(motor_names),
+    new VideoPlayer()
   };
 
-  screen::start_screen(Brain.Screen, pages, 2);
+  screen::start_screen(Brain.Screen, pages, 4);
   imu.calibrate();
 
   l_endgame_sol.set(false);