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Code Issues Releases Wiki Activity

Added older auto sequences

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This commit is contained in:
Adam Long 2015-03-19 12:52:16 +00:00
parent c47be842ae
commit 5193cbb59a
3 changed files with 16 additions and 2 deletions
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2
Commands/Autonomous/AutoDrive.cpp
View File

@ -7,7 +7,7 @@ AutoDrive::AutoDrive(double duration, double xtmp, double ytmp, double ztmp, boo
x=xtmp;
y=ytmp;
z=ztmp;
gyro=false;
gyro=useGyro;
}
void AutoDrive::Initialize(){
DentRobot::drivetrain->ResetGyro();

14
Commands/Autonomous/Autonomous.cpp
View File

@ -74,6 +74,20 @@ Autonomous::Autonomous(int seq){
// Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes
//TODO: Implement this
break;
case 8:
//Use rear elevator to move tote
AddSequential(new BinRaise(1));
AddSequential(new Turn(2.1));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,0.75));
AddSequential(new Turn(2.1));
break;
case 9:
//Use rear elevator to move tote
AddSequential(new BinLower(1.5));
AddSequential(new Turn(2.1));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,-0.75));
AddSequential(new Turn(2.1));
break;
default:
printf("Invalid seq: %d\n", seq);
break;

2
Commands/Collector/RollIn.cpp
View File

@ -13,7 +13,7 @@ void RollIn::Execute(){
//}else{
// DentRobot::collector->MoveRollers(cvt*1.5);
//}
DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 0.8);
DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 1.0);
}
bool RollIn::IsFinished(){
return IsTimedOut();