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Code Issues Releases Wiki Activity

Fixed auto (untsted)

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This commit is contained in:
Austen Adler 2014-03-13 14:50:58 -07:00
parent 3aabd1195b
commit f2ce945547
1 changed files with 8 additions and 8 deletions
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16
MyRobot.cpp
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@ -290,12 +290,12 @@ public:
SmartDashboard::PutBoolean("CollectorState",true); SmartDashboard::PutBoolean("CollectorState",true);
//}}} //}}}
while(IsEnabled()&&IsAutonomous()) { while(IsEnabled()&&IsAutonomous()) {
if(SmartDashboard::GetNumber("Autonomous Sequence")==0){ if(SmartDashboard::GetNumber("Autonomous sequence")==0){
//Autonomous0{{{ //Autonomous0{{{
//Drive{{{ //Drive{{{
if(currentStep==0){ if(currentStep==0){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){ if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
driveRobot(1.0f,correction); driveRobot(-1.0f,correction);
}else{ }else{
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
} }
@ -338,12 +338,12 @@ public:
} }
//}}} //}}}
//}}} //}}}
}else if(SmartDashboard::GetNumber("Autonomous Sequence")==1){ }else if(SmartDashboard::GetNumber("Autonomous sequence")==1){
//Autonomous1{{{ //Autonomous1{{{
//Drive{{{ //Drive{{{
if(currentStep==0){ if(currentStep==0){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){ if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
driveRobot(1.0f,correction); driveRobot(-1.0f,correction);
}else{ }else{
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
} }
@ -372,7 +372,7 @@ public:
//}}} //}}}
//Drive Backwards{{{ //Drive Backwards{{{
if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){ if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
driveRobot(-1.0f,correction); driveRobot(1.0f,correction);
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){ if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.2f); shootRobot(-0.2f);
}else{ }else{
@ -389,7 +389,7 @@ public:
//Drive{{{ //Drive{{{
if(currentStep==3&&c>SmartDashboard::GetNumber("Second Drive Start")*200){ if(currentStep==3&&c>SmartDashboard::GetNumber("Second Drive Start")*200){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){ if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
driveRobot(1.0f,correction); driveRobot(-1.0f,correction);
}else{ }else{
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
} }
@ -417,12 +417,12 @@ public:
} }
//}}} //}}}
//}}} //}}}
}else if(SmartDashboard::GetNumber("Autonomous Sequence")==2){ }else if(SmartDashboard::GetNumber("Autonomous sequence")==2){
//Autonomous2{{{ //Autonomous2{{{
//Drive{{{ //Drive{{{
if(currentStep==0){ if(currentStep==0){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){ if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
driveRobot(1.0f,correction); driveRobot(-1.0f,correction);
}else{ }else{
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
} }