Added logic for autoaim

.vscode/vex_project_settings.json

@@ -4,12 +4,12 @@
 		"json": 2
 	},
 	"project": {
-		"name": "RED_Jover",
+		"name": "Jover_WithLight",
 		"description": "",
-		"creationDate": "Sun, 10 Mar 2024 19:16:09 GMT",
+		"creationDate": "Sun, 07 Apr 2024 17:47:14 GMT",
 		"platform": "V5",
 		"language": "cpp",
-		"slot": 8,
+		"slot": 1,
 		"sdkVersion": "V5_20240223_11_00_00",
 		"cpp": {
 			"includePath": [],

src/automation.cpp

@@ -370,7 +370,7 @@ void drive_tank_autoaim(TankDrive::BrakeType brake) {
       }
     );
 
-    const double kP = 0.003; // Units: percent per delta pixels
+    const double kP = 0.0035; // Units: percent per delta pixels
     const int setpoint = 160;
     double correction = 0;
 

src/competition/opcontrol.cpp

@@ -8,6 +8,7 @@
 #include <atomic>
 
 #define Tank
+#define EN_AUTOAIM
 
 std::atomic<bool> disable_drive(false);
 std::atomic<bool> brake_mode_toggled(false);
@@ -108,11 +109,11 @@ void setupJoeControls()
  */
 void opcontrol() {
   // ================ TUNING CODE (Disable when not testing) ================
-  testing();
+  // testing();
 
   // ================ INIT ================
-  // Ensure the catapult system is enabled during driver control
-  if (cata_sys.get_cata_state() == CataOnlyState::CataOff) {
+  // Disable catapult while in driver (sadface)
+  if (cata_sys.get_cata_state() != CataOnlyState::CataOff) {
     cata_sys.send_command(CataSys::Command::ToggleCata);
   }
 
@@ -131,10 +132,11 @@ void opcontrol() {
     double l = con.Axis3.position() / 100.0;
     double r = con.Axis2.position() / 100.0;
     if (!disable_drive && !enable_matchload) {
-      if (brake_mode_toggled)
-        drive_sys.drive_tank(l, r, 1, TankDrive::BrakeType::Smart);
-      else
+      #ifdef EN_AUTOAIM
+        drive_tank_autoaim(TankDrive::BrakeType::None);
+      #else
         drive_sys.drive_tank(l, r, 1, TankDrive::BrakeType::None);
+      #endif
     }
 
     if (!disable_drive && enable_matchload) {
@@ -195,8 +197,8 @@ void testing() {
     // if (!disable_drive)
     //   drive_sys.drive_tank(f, s, 1, TankDrive::BrakeType::None);
     if (!disable_drive)
-      // drive_tank_autoaim(TankDrive::BrakeType::None);
-      drive_sys.drive_tank(l, r, 1, TankDrive::BrakeType::None);
+      drive_tank_autoaim(TankDrive::BrakeType::None);
+      // drive_sys.drive_tank(l, r, 1, TankDrive::BrakeType::None);
 
     // ================ Drive Tuning =================
     static bool done_a = false;