void redDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN LEFT Knocks buckies (1-6)
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 455); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
intake(0);
// end part 1: prepare dump
waitForButton();
lift(BUMP);
holdArm();
intake(-1);
resetValues(1200);
// end part 2: dump
waitForButton();
liftDown();
wait10Msec(100);
moveStraight(1, 0, 700);
// end part 3: prepare hit
spin(-1, 0, 200);
intake(-1);
lift(BUMP);
holdArm();
noRamp(1, 250);
resetValues(0);
// end part 4: hit
}
void BlueSai() //potential 20pt auton
{
deploy();
// go for second ball knockdown
noRamp(1,1800);
}
bool touch()
{
{
void crossBump()
{
/*
lift(BUMP);
holdArm();
nMotorEncoder[LeftMWheel] = 0;
while(abs(nMotorEncoder[LeftMWheel]) < 300)
{
setRight(100); setLeft(100);
}
while(abs(nMotorEncoder[LeftMWheel]) < 600)
{
setRight(50); setLeft(50);
}
while(abs(nMotorEncoder[LeftMWheel]) < 800)
{
setRight(35); setLeft(35);
}
//liftDown();
setRight(0); setLeft(0);
//resetValues(0);
*/
}
/* Psuedocode
Ramp Forward -> [Cross Barrier] -> Raise Arm HIGH -> Hold Arm HIGH -> Ramp Zero -> [Reach Goal] -> Outtake -> [Finish Outtake]
-> Stop Intake -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Lower Arm LOW -> Ramp Backward -> [Reach Square] -> Hard Zero
Wait Until Press -> Raise Arm BARRIER -> Hold Arm BARRIER -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Ramp Backward
-> [Reach Square] -> Hard Zero -> Wait Until Press -> Ramp Forward -> Ramp Zero -> [Reach Barrier]
*/
void Alex() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1550); // 1600 is just before goal
lift(HIGH); // nearest 100
holdArmHigh();
moveStraight(1, 0, 300); // reaches goal
//wait1Msec(1000);
intake(-1);
wait1Msec(500); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
liftDown();
// end score bucky
moveStraight(-1, 0, 1400); // now user readjust for first ball
waitForButton();
lift(BARRIER);
holdArm();
intake(-1);
moveStraight(1, 0, 580); //estimated guess based on 10Q's values
wait1Msec(300);
//moveStraight(-1, 0, 550);
moveStraight(-1, 0, 580);
waitForButton();
moveStraight(1, 0, 950);
wait1Msec(300);
//moveStraight(-1, 0, 950);
moveStraight(-1, 0, 950);
resetValues(100);
}
void blueDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN RIGHT Knocks buckies (1-6)
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 455); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
intake(0);
// end part 1: prepare dump
waitForButton();
lift(BUMP);
holdArm();
intake(-1);
resetValues(1200);
// end part 2: dump
waitForButton();
liftDown();
wait10Msec(100);
moveStraight(1, 0, 700);
// end part 3: prepare hit
spin(1, 0, 200);
intake(-1);
lift(BUMP);
holdArm();
noRamp(1, 250);
resetValues(0);
// end part 4: hit
}
