Semi-final autos done

RIT-VEX-U · Apr 23, 2024 · fb81f5d · fb81f5d
1 parent 2bbfebb
commit fb81f5d
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Showing 3 changed files with 16 additions and 5 deletions.
diff --git a/.vscode/vex_project_settings.json b/.vscode/vex_project_settings.json
@@ -6,7 +6,7 @@
 	"project": {
 		"name": "Jover_AutoTest",
 		"description": "",
-		"creationDate": "Sun, 07 Apr 2024 18:45:59 GMT",
+		"creationDate": "Tue, 23 Apr 2024 00:59:37 GMT",
 		"platform": "V5",
 		"language": "cpp",
 		"slot": 8,

diff --git a/src/competition/autonomous.cpp b/src/competition/autonomous.cpp
@@ -130,15 +130,20 @@ class DebugCommand : public AutoCommand {
   }
 };
 
+// #define ELIMS
+
 void awp_auto() {
 
   static std::atomic<bool> end_vision_scan(false);
   // clang-format off
   DebugCommand *tempend = new DebugCommand();
 
   static int vis_tball_num = 0;
+  #ifdef ELIMS
+  #define END_EARLY_TIME 40
+  #else
   #define END_EARLY_TIME 37
-
+  #endif
   CommandController cmd{
     // ================ INIT ================
     odom.SetPositionCmd({.x=22, .y=21, .rot=225}),
@@ -299,7 +304,7 @@ void awp_auto() {
           cata_sys.Unintake(),
           drive_sys.DriveForwardCmd(100, FWD, 0.5)->withTimeout(1),
           cata_sys.StopIntake(),
-          drive_sys.DriveToPointCmd({94,43}, REV),
+          drive_sys.DriveToPointCmd({94,47}, REV),
           new FunctionCommand(light_on),
           drive_sys.TurnToHeadingCmd(90),
 
@@ -312,16 +317,22 @@ void awp_auto() {
     }, (new IfTimePassed(END_EARLY_TIME))->Or(new FunctionCondition([]()->bool{return end_vision_scan;})))),
 
     new FunctionCommand(light_off),
+    #ifdef ELIMS
+    drive_sys.TurnToHeadingCmd(305),
+    drive_sys.DriveToPointCmd({122, 14}, FWD),
+    drive_sys.TurnToHeadingCmd(55),
+    #else
     // ================ GO TO BAR AWP ================
     // drive_sys.TurnToHeadingCmd(180),
     // new GPSLocalizeCommand(SIDE),
     drive_sys.TurnToHeadingCmd(230),
     // drive_sys.DriveToPointCmd({.x=89, .y=52}, FWD),
     cata_sys.IntakeToHold(),
     drive_sys.DriveForwardCmd(drive_pid, 144, FWD, 0.3)->withCancelCondition(drive_sys.DriveStalledCondition(0.5)),
+
+    #endif
     cata_sys.StopIntake(),
     tempend,
-
 
   };
 

diff --git a/src/competition/opcontrol.cpp b/src/competition/opcontrol.cpp
@@ -109,7 +109,7 @@ void setupJoeControls()
  */
 void opcontrol() {
   // ================ TUNING CODE (Disable when not testing) ================
-  // testing();
+  testing();
 
   // ================ INIT ================
   // Disable catapult while in driver (sadface)