From 74226065663a5104822c3cb5f6e82d2214a30762 Mon Sep 17 00:00:00 2001 From: Ethan Stacy Date: Sat, 24 Feb 2024 07:20:30 -0700 Subject: [PATCH] Update Match auto --- src/main.cpp | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/src/main.cpp b/src/main.cpp index 21791ae..15d8429 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -527,7 +527,7 @@ void autonomous() 1500); auto_sequence.set_intake_spin(-MAX_VOLTAGE, 0); auto_sequence.set_intake_extension(true, MAX_RPM / 2.0, 1000); - auto_sequence.set_intake_extension(false, MAX_RPM / 2.0, 500); + auto_sequence.set_intake_extension(false, MAX_RPM / 1.5, 500); auto_sequence.set_intake_spin(0, 0); auto_sequence.move_position(DRIVE_UNITS_PER_INCH * -2.5, MAX_RPM / 4.0, 500); @@ -538,14 +538,15 @@ void autonomous() auto_sequence.set_intake_spin(-MAX_VOLTAGE * 0.5, 0); auto_sequence.move_position(DRIVE_UNITS_PER_INCH * -13, MAX_RPM / 4.0, 2500); - auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * -125, - DRIVE_UNITS_PER_DEGREE * 125, MAX_RPM / 4.0, + auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * -132, + DRIVE_UNITS_PER_DEGREE * 132, MAX_RPM / 4.0, MAX_RPM / 4.0, 1500); auto_sequence.set_intake_spin(-MAX_VOLTAGE, 0); - auto_sequence.move_position(DRIVE_UNITS_PER_INCH * 12, MAX_RPM, 2000); + auto_sequence.move_position(DRIVE_UNITS_PER_INCH * 12, MAX_RPM, 1500); // Go back to matchload zone auto_sequence.set_intake_spin(0, 0); auto_sequence.deploy_catapult(); + auto_sequence.move_position(DRIVE_UNITS_PER_INCH * -10, MAX_RPM / 4.0, 2500); auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * -35, @@ -557,7 +558,7 @@ void autonomous() DRIVE_UNITS_PER_DEGREE * -120, MAX_RPM / 6.0, MAX_RPM / 4.0, 2500); auto_sequence.drive_speed(-MAX_VOLTAGE * 0.25, 1200); - auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * 25, 0, + auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * 30, 0, MAX_RPM / 4.0, MAX_RPM / 4.0, 500); // Fire catapult auto_sequence.fire_catapult_time(20000); @@ -566,7 +567,9 @@ void autonomous() // Home after firing auto_sequence.drive_speed(-MAX_VOLTAGE * 0.35, 1200); // Contact overhead pipe - auto_sequence.move_position(300.0, 0, MAX_RPM / 4.0, 0, 1000, + auto_sequence.move_position(DRIVE_UNITS_PER_INCH * 2, MAX_RPM / 4.0, + 500); + auto_sequence.move_position(320.0, -40, MAX_RPM / 4.0, 0, 1500, MotorAction::MoveAbsolute, MotorAction::Brake); auto_sequence.move_position(DRIVE_UNITS_PER_INCH * 20, MAX_RPM / 4.0,