From 5193cbb59abd4e187454f9fb56a36ad93f57f207 Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Thu, 19 Mar 2015 12:52:16 +0000
Subject: [PATCH] Added older auto sequences

---
 Commands/Autonomous/AutoDrive.cpp  |  2 +-
 Commands/Autonomous/Autonomous.cpp | 14 ++++++++++++++
 Commands/Collector/RollIn.cpp      |  2 +-
 3 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp
index 0ec19b8..143fc06 100644
--- a/Commands/Autonomous/AutoDrive.cpp
+++ b/Commands/Autonomous/AutoDrive.cpp
@@ -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();
diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index 2fe6ed7..bc9d77b 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -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;
diff --git a/Commands/Collector/RollIn.cpp b/Commands/Collector/RollIn.cpp
index 89118fd..816aa81 100644
--- a/Commands/Collector/RollIn.cpp
+++ b/Commands/Collector/RollIn.cpp
@@ -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();