mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
52 lines
1.5 KiB
C++
52 lines
1.5 KiB
C++
#include "Autonomous.h"
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#include "../../DentRobot.h"
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#include "../Elevator/Raise.h"
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#include "../Elevator/Lower.h"
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#include "AutoDrive.h"
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#include "Turn.h"
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#include "../Collector/CloseCollector.h"
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#include "../Collector/OpenCollector.h"
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#include "../Collector/CollectTote.h"
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Autonomous::Autonomous(int seq){
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SmartDashboard::GetNumber("Auto Wait Time");
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switch(seq){
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case 0:
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// Just for testing
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AddSequential(new Raise());
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AddSequential(new Lower());
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AddSequential(new OpenCollector());
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AddSequential(new CloseCollector());
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AddSequential(new Turn());
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AddParallel(new AutoDrive(0.5));
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AddParallel(new CloseCollector());
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AddSequential(new CollectTote());
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AddSequential(new Turn());
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break;
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case 1:
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// Drive forward a bit, turn around, collect tote then bin
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AddParallel(new Raise());
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AddSequential(new AutoDrive(0.5));
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AddSequential(new Turn());
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AddSequential(new Turn());
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AddSequential(new CollectTote());
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break;
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case 2:
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// Drive forward a bit, turn around, collect tote then bin
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AddParallel(new Raise());
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AddParallel(new AutoDrive(0.5));
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AddSequential(new Turn());
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AddSequential(new Turn());
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AddSequential(new CollectTote());
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break;
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case 3:
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// Wait a desigated value, drive to Auto Zone (TM)
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Wait(SmartDashboard::GetNumber("Auto Wait Time"));
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AddSequential(new AutoDrive(2.0));
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break;
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default:
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printf("Invalid seq: %d\n", seq);
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break;
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}
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}
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// vim: ts=2:sw=2:et
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