/* 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, 1600); // 1600 is just before goal
		lift(HIGH); // nearest 100
		holdArm();
		moveStraight(1, 0, 300); // reaches goal
		//wait1Msec(1000);
		intake(-1);
		wait1Msec(500); // outtake
		intake(0);
		moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
		liftDown();
		moveStraight(-1, 0, 1500);
		waitForButton();
		lift(BARRIER);
		holdArm();
		intake(-1);
		moveStraight(1, 0, 550); //estimated guess based on 10Q's values
		wait1Msec(300);
		moveStraight(-1, 0, 550);
		waitForButton();
		moveStraight(1, 0, 950);
		wait1Msec(300);
		moveStraight(-1, 0, 950);
		resetValues(100);
	}
void redUdit()
{
	deploy();
	intake(1);
	wait10Msec(10);
	moveStraight(1, 0, 475); //picks up
	wait10Msec(50);
	moveStraight(-1, 0, 475);//comes back
	//intake(0)();
	spin(1, 0, 400);
	lift(BUMP);
	holdArm();
	waitForButton();
	intake(-1);
	wait10Msec(100);
	resetValues(0);
	liftDown(); // added
	// end Devansh
	waitForButton();
	intake(1);
	moveStraight(1, 0, (HALF_TILE));
	wait10Msec(50);
	pickUpBall(1);
	spin(-1, 0, 200);
	crossBump();
	lift(BARRIER);
	holdArm();
	wait10Msec(30);
	moveStraight(1, 0, 550);
	intake(-1);
	// end udit
	resetValues(1000);
}
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 redUdit()
{
	deploy();
	intake(true);
	wait10Msec(10);
	moveStraight(1, 0, 475);
	wait10Msec(50);
	moveStraight(-1, 0, 475);
	//stopIntake();
	lift(BUMP);
	holdArm();
	waitForButton();
	intake(false);
	wait10Msec(100);
	waitForButton();
	resetValues(0);
	liftDown();
	// end Devansh
	waitForButton();
	intake(true);
	moveStraight(1, 0, (HALF_TILE));
	wait10Msec(50);
	pickUpBall(1);
	spin(-1, 0, 200);
	crossBump();
	lift(BARRIER);
	holdArm();
	wait10Msec(30);
	moveStraight(1, 0, 550);
	intake(false);
	// end udit
	resetValues(1000);
}
/* 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...changed for some reason
	lift(HIGH); // only accurate to the nearest 100... may need to adjust HIGH value
	holdArm();
	moveStraight(1, 0, 300); // reaches goal
	//wait1Msec(1000);
	intake(false);
	wait1Msec(1000); // outtake
	stopIntake();
	moveStraight(-1, 0, 400); // move back away from goal...Apparently Safety is greater than move forward
	liftDown();
	moveStraight(-1, 0, 1500);
	waitForButton();
	lift(BARRIER);
	holdArm();
	intake(false);
	moveStraight(1, 0, 550); // estimated guess based on 10Q's values - WORKS
	wait1Msec(300);
	moveStraight(-1, 0, 550);
	waitForButton();
	moveStraight(1, 0, 950); // A bit of trouble... Not sure if you want to spin rollers for this hit...
	wait1Msec(300); // outtaking pushes the ball away + needs good aiming
	moveStraight(-1, 0, 950);
	resetValues(100);
}
void redDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN LEFT Knocks buckies (1-6) + Places two Balls (2)
{
	deploy();
	intake(true);
	wait10Msec(10);
	moveStraight(1, 0, 475);
	wait10Msec(50);
	moveStraight(-1, 0, 475);
	//stopIntake();
	lift(BUMP);
	holdArm();
	waitForButton();
	intake(false);
	wait10Msec(100);
	waitForButton();
	resetValues(0);
	liftDown();
	// end Devansh
	waitForButton();
	intake(true);
	moveStraight(1, 0, (HALF_TILE));
	wait10Msec(50);
	pickUpBall(1);
	spin(-1, 0, 200);
	crossBump();
	lift(BARRIER);
	holdArm();
	wait10Msec(30);
	moveStraight(1, 0, 550);
	intake(false);
	// end udit
	resetValues(1000);
}
void blueUdit()
{
	deploy();
	intake(1);
	wait10Msec(10);
	moveStraight(1, 0, 475); //picks up
	wait10Msec(50);
	moveStraight(-1, 0, 475);//comes back
	//intake(0)();
	spin(1, 0, 400);
	lift(BUMP);
	holdArm();
	waitForButton();
	intake(-1);
	wait10Msec(100);
	resetValues(0);
	liftDown(); // added

	waitForButton();
	//liftDown();
	// end Devansh
	//waitForButton();
	intake(1);
	moveStraight(1, 0, (HALF_TILE));
	wait10Msec(50);
	pickUpBall(1);
	spin(1, 0, 200);
	//crossBump();
	lift(BUMP);
	nMotorEncoder[LeftMWheel] = 0;
	if(true)
	{
		setRight(127);
		wait10Msec(10);
		setLeft(127);
	}
	while (abs(nMotorEncoder[LeftMWheel]) < 500)
	{
		setRight(127); setLeft(127);
	}
	setRight(0); setLeft(0);
	lift(BARRIER);
	holdArm();
	wait10Msec(30);
	moveStraight(1, 0, 550);
	intake(-1);
	// end udit
	resetValues(1000);
}
void blueBrian()
{
		moveStraight(1, 0, 1000); // estimate going 2 tiles, under bump perpendicular to barrier
		wait10Msec(30); // stableeeeeeeeeeeeeeeee hit ball gently?
		spin(-1, 0, 100); // uh... hopefully it doesn't fall out?
		//wait10Msec(70); 1 sec stabilization time already incorporated in spin()
		lift(HIGH); // uh..
		holdArmHigh();
		wait10Msec(70);
		moveStraight(1, 0, 450);
		wait10Msec(70);
		intake(-1);
		wait10Msec(10); // lol
		intake(0);
		moveStraight(-1, 0, 200); // lol
		intake(-1); // lol
		wait10Msec(20);
		intake(0);
		moveStraight(-1, 0, 250);
		resetValues(0);
		liftDown();
		spin(1, 0, 100);
		moveStraight(-1, 0, 1000);
		waitForButton();
		// end 15 pts

		lift(BARRIER);
		holdArm();
		moveStraight(1, 0, 950);
		// end 5 pts, or 20pts total
}
Example #9
0
	void Alex2() // Knocks 2 big balls (10) then caches preload
	{
		deploy();

		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);

		waitForButton();
		moveStraight(1, 0, 1420); // maintenence and recalibrating needed
		lift(HIGH); // nearest 100
		holdArmHigh();
		moveStraight(1, 0, 500); // 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
		motor[LeftArm] = motor[RightArm] = -127;
		wait1Msec(800);
		motor[LeftArm] = motor[RightArm] = 0;
			// end score bucky
		moveStraight(-1, 0, 1300); // now user readjust for first ball
	}
Example #10
0
	void AlexAlt() // Caches preload (5) + Knocks 2 big balls (10)
	{
		deploy();
		moveStraight(1, 0, 1600); // maintenence and recalibrating needed
		liftTime(1,300);
		holdArmHigh();
		moveStraight(1, 0, 650); // 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 redDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN LEFT Knocks buckies (1-6) + Places two Balls (2)
	{
			deploy();
			intake(1);
			wait10Msec(10);
			moveStraight(1, 0, 150); // 200 estimated based on 10Q values
			wait10Msec(50);
			moveStraight(-1, 0, 150);
			intake(0);
			waitForButton();
			lift(BUMP);
			holdArm();
			intake(-1);
			waitForButton();
			resetValues(0);
			liftDown();
			wait10Msec(20);
			intake(1);
			moveStraight(1, 0, (TILE + HALF_TILE)); // theory
			wait10Msec(50); // intake ball hopefully
			lift(BUMP);
			holdArm();
			intake(0);
			spin(0, -1, RIGHT_ANGLE); // RED SIDE TURN LEFT knocks buckies hopefully
			wait10Msec(30);
			intake(-1); // outtake ball hopefully
			wait10Msec(300);
			intake(0);
			spin(0, 1, RIGHT_ANGLE);
			liftDown();
			intake(1);
			moveStraight(1, 0, (TILE + HALF_TILE)); // theory
			lift(BUMP);
			holdArm();
			intake(0);
			spin(0, -1, RIGHT_ANGLE); // RED SIDE TURN LEFT
			wait10Msec(30);
			intake(-1);
			resetValues(10);
	}
Example #12
0
  void skills()
  {
  	deploy();

  	wait10Msec(20);
    intakeSlow(1);
		moveStraight(1, 0, 430); //picks up
		wait10Msec(50);
		moveStraight(-1, 0, 430);//comes back
		intake(1);


		lift(BUMP - 50);
		holdArm();
		moveStraight(-1,0,700);//hops bump
		waitForButton();

	  liftDown();
	  intake(0);

  	waitForButton();
		moveStraight(1, 0, 1400); // maintenence and recalibrating needed
		wait10Msec(30);
		lift(HIGH);
		holdArmHigh();
		moveStraight(1, 0, 430); // reaches goal
		//wait1Msec(1000);
		intake(-1);
		wait10Msec(150); // outtake
		moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
		lift(LOW);
		wait10Msec(50);

		intake(0);
			// end score bucky
		moveStraight(-1, 0, 1400); // now user readjust for first ball
		waitForButton();

		moveStraight(1,0,600);
	  spin(1,0,200);
	  lift(BARRIER);
		holdArmHigh();
		moveStraight(1, 0, 475);
		wait10Msec(40);
		moveStraight(-1, 0, 275);


	}
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);
}
Example #14
0
	void redUdit()
	{
		deploy();
		wait10Msec(20);
		moveStraight(1, 0, 450); //picks up
		wait10Msec(50);
		moveStraight(-1, 0, 450);//comes back
		intake(0);

		waitForButton();
		moveStraight(1, 0, (610));
		spin(-1,0, 240);
		moveStraight(1, 0, (575));
		lift(BARRIER - 300);
		holdArm();
		intake(-1);
		wait10Msec(130);
		liftDown();
		intake(0);

	}
	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
}